You can get some approximation of that with more detailed plans. I use a prompt like "Let's make a detailed plan. Write plan files as markdown to plans/feature-XYZ. [regular prompt]". That way you get much more thorough plans than with plan mode, and you can make it as detailed and deep as you want.

It can't account for things that only come up during implementation. But you can explore much more of the design space in planning to reduce the opportunities for Claude to wander down the wrong path during implementation