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Many successful rewrites are Waterfalls, regardless of method used for first time.

By the second time, you actually have a reasonable chance of knowing what the requirements should have been the first time. They might even be valid for the rewrite, if things aren't moving too fast.

Here's the Royce paper. Check out page three.

[0] https://dl.acm.org/doi/10.5555/41765.41801

That's how I did waterfall. We would go through all the requirements, group things that were related, and assign them to a developer who owned them. Repeat until there are no more unsatisfied requirements.