> Drucker later recognised the toxicity of Management by Objectives and disavowed it.

Reminds me of a seminal treatise for Waterfall by Royce[0], where he basically says it’s fraught with issues, but can be coerced into something semi-usable. Not exactly a ringing endorsement. I think that paper is used as the template for all Waterfall work.

[0] https://dl.acm.org/doi/abs/10.5555/41765.41801