I feel the same way about Agile-as-practiced in most places. It has its use case, but making it the standard and sole process of development can turn things into an endless grind.
For the discovery and design process, I appreciate things like Basecamp's Shape Up method:
We use Shape Up philosophy at DEV and it's been really solid.
We're a place where coders share, stay up-to-date and grow their careers.
We strive for transparency and don't collect excess data.