I think I could share a trick that could help:

From my experience (so not an ultimate truth) Claude is not so great at taking the decision for planning by its own: it dives immediately into coding.

If you ask it to think step-by-step it still doesn’t do it but Gemini 2.5 Pro is good at that planning but terrible at actual coding.

So you can use Gemini as planner and Claude as programmer and you get something decent on RooCode.

This “think wisely” that you have to repeat 10x in the prompt is absolutely true