You can get some approximation of that with more detailed plans. I use a prompt like "Let's make a detailed plan. Write plan files as markdown to plans/feature-XYZ. [regular prompt]". That way you get much more thorough plans than with plan mode, and you can make it as detailed and deep as you want.
It can't account for things that only come up during implementation. But you can explore much more of the design space in planning to reduce the opportunities for Claude to wander down the wrong path during implementation
Imho, the combination of the mattpocock skills, and the beads local issue tracker take care of all of that very well, with generally high quality output.
I've tried this, and it is largely what I do, but it's easy to end up with a large tangled pile of markdown files, and the implementation either diverges from what's in markdown or you burn a lot of tokens keeping them in-sync.
The plans usually end up very long and verbose, and in my most vibe-y test project I stopped even reading them myself and instead just ask questions interactively. e.g. "what are the remaining unanswered design decisions", "which part is jankiest". It does work quite well although I don't know how I feel about it.
P.S. to any anthropic staff: The "chat about this" option in Plan mode is useful but also annoying. When I select it I want to take the next turn of the conversation myself, I don't want it to waste time "thinking" just for it to verbosely ask me what I want to chat about.