A couple of things to consider:

Start with a set of work that's well specified and reasonably chunked to sizes that make it so that the review parts fit in the gaps of the working chunk and interleave (1-4 tasks of this). While the agent is working on the A task, you're reading the B task, only add a 3rd task if you're waiting on the agent excessively. Give yourself some slack on this to think about side quests (maintenance / tech debt / planning future work to your system etc.)

Make sure the handoffs are reasonably detailed (prompts / AGENTS.md instructions) - make your agents provide more context than normal - make them assume that you don't read all the text they spit out and need to be handed succinct summaries with information that helps reduce cognitive burdens (what I was doing, how I did it, what's next etc.)

It's reasonable to regularly ask the agent what things you've worked on choices made, options considered and discarded, context rehydrating. There's a lot of small tweaks you do when interactive prompting that get lost in a drift rather than captured as a neat single list. Make the agent help track that stuff. (at least prior to shipping, but often in intermediate steps.

Write flows that keep software in a buildable state so you can run it and queue up changes based on what you see. Avoid long periods of broken refactoring (caller code written before callee, deletion before add in a move etc.) Run quick checks (e.g. rust's cargo check) after each change, not at the end.

Correction of agent errors should end up as future steering. If the agent makes a mistake once it's the agents fault, twice it's your fault.

Leave time to stop and evaluate the current state regularly (where are we on the work). It's easy to mistake momentum for progress when you're the human part of an agentic loop.