Ask HN: Doing sprints without story points. What has worked for you?

The general gist I keep reading throughout the industry these days is that estimating tasks with story points is no longer recommended. On one side of it taking the time to make the estimate is a waste of time because the estimate is usually wrong, and on the other side of it, by obsessing over velocity we have developers trying to hit speed rather than quality metrics.

All that being said, I'm interested to hear from others who are a part of teams that aren't using story points to plan sprints. Which methods have you used? What worked, what didn't?