Another perspective is that planning is a breadth-first traversal of the solution space, and coming up with a path to the solution. When reality hits and the path is often wrong, one can switch to other paths quickly since the graph was created ahead of time. It's writing the table of contents for a book before fleshing it out.

Without planning, a depth first traversal is a high risk endeavor in the likelihood that the that path is wrong but backtracking and creating the graph is comparatively expensive and susceptible to sunk cost fallacy. Depth-first traversal is writing the book a chapter at a time without a table of contents in mind.

Certainly holds true for having a baby.

You can plan all you want and it is essential... however you'll quickly find out that most of your plans are in your newborns' hands.

Dwight Eisenhower, who also created The Matrix.