It’s Agile philosophically, and how it should be.
But that is rarely how it works. In the dozens of different projects across ten or twelve companies I’ve had insight into, “doing Agile” is analogous with “we have a scrum master, hold stand ups, and schedule iterations” while the simple reality is “Agilefall.”
Agreed, but the parent poster said that estimates shouldn't be done at all, which is not a legitimate argument to make in any scenario.