Claude Code more or less does have the tools to do this: plan mode, todo lists, user question prompts, et al. What it does not have is a "guided" mode where the agent (or harness) interviews you and helps you structure a work plan for the agent, including eliciting those success criteria and any design constraints the user might have in mind (eg it will be used on a boat over slow satellite connection). I can't speak for OpenAI but I get the impression that Anthropic think of these things as opt-in power user features, perhaps on the premise that their LLMs alone are "smart enough".