And don't tie yourself to a harness. Shun models that don't let you pick the harness (Google). Anthropic is indifferent at the moment because the OpenClaw craze is over. Vote with your wallet.
And, no, wrapping claude -p or any other “allowed” use wherein you don’t control the agent loop isn’t the same.
I log everything - user messages, tasks, project memory, even bash commands for forensics. As a consequence you can do reflection where you analyze past work and extract refinements for the harness and realign the project when it diverged from user intentions. I don't have to do this manually, it reduces steering work.