What OP wrote: "Scrum definitely has its issues and can be abused"
I don't have a perfect solution, but the best one I've implemented so far works only in small teams, and is effectively Kanban-driven development. I try to stay close to The Toyota Way, which I learned while working in medical device (where they, like aerospace, draw a lot of inspiration from our industrial engineering forefathers).
I guess my solution is - create many small teams, let them implement "lightweight scrum" where the Kanban board is the main discussion point every day. What tasks are pending, what's next, what is stuck? And finally, let the small teams throw away anything they don't like, including the board, as long as they meet their deliverables defined by the broader team.
Is this too Scrum-y still? Maybe. But Scrum has lost its way and its time to just return to the basics and implement stuff that's worked for decades in other industries. Software Engineering had its chance to play around and re-invent the wheel, going all the way back to Fred Brooks Mythical Man-Month. The industry has had 50 years to get its shit together, which is an absolute eternity and inexcusable for how shitty a state of affairs we have now, in terms of program management philosophies. Frankly I'm interested in just using the original wheel at this point, where we assign tasks to teams and estimate them USING REAL TIME ESTIMATES (not story points like we are fucking fairy tales).
I care more about making high-quality software and less about management philosophies these days.
More about my rant here - https://www.ashwinsundar.com/story-points-stupid/