Waterfall was bad due to the excessively long feedback loops (months-to-years from "planning" to "customer gets to see it/ we receive feedback on it"). It was NOT bad because it forced people to think before writing code! That part we should recover, it's not problematic at all.
When you do most of the thinking before you start implementing the whole thing, and if you think that that's enough, then you've missed the unknown unknowns part, which was a big talking point in the mid 2000s, back when the anti-waterfall discourse got going (and for good reason).
But I expect the AI zealots to start (re-)integrating XProgramming (later rebranded as Agile) back into their workflow, somehow.
If people actually read the original paper by Royce 1970 they would see that it's an iterative process with short feedback-loops.
The bad rep comes from (defense|gov.) contracting, where PRDs where connected to money and CR were expensive, see http://www.bawiki.com/wiki/Waterfall.html for better details.