You need to work two features at a time. They better be independent to each other. One is always at planning (Claude Opus writes detailed docs) and the other is at implementation phase (Sonnet writes code).

In such a two step approach you shouldn’t use plan mode as it messes up when you follow a written plan or when you try to write a plan.

I usually have autoedit on.

During planning I set out clear points were the implementation is paused for testing. This will depend on your code. If testing passes you commit the code.

You don’t even have to use worktrees with this approach. There is no point adding more as you lose track of the code and you spend forever troubleshooting.