Please don’t do that!
Suggesting that agile = no planning upfront. Of course there is planning, prioritizing and breaking down things into manageable short term chunks is the definition of planning.
If I hear "We don’t plan, we are agile" one more time my head might explode.
"More or less?" Could you describe what you're doing? Estimating an up-front plan has never been part of agile ways of working.