Estimation was mostly guesswork. There’s a theory that work expands to fill the time you give it and I found that to be largely true.
Other agencies would quote 3 months for projects we’d complete in 6 weeks. Even then I was taking engineers 3 week estimates and doubling them for buffer.
We didn’t do anything special other than commit individuals to a single project, or two at most.
We would of course add additional resources if necessary to hit deadlines and then adjust future estimates as needed.
After a few years estimation felt more instinctual than scientific.