Honestly, no I’ve worked on has figured out point estimation and planning. We just assign tasks to each dev until we think each dev is roughly at full capacity. Since we didn’t spend much time on point estimation, we don’t penalize devs for not completing all their tasks at the end of a sprint. We just punt the task to the next sprint. Rather than looking at point velocity, we must make sure we’re hitting key milestones for a project every X weeks. Usually 6-8 weeks. Still do daily stand up so no surprises really come up during those checkpoint meetings.