Personally I use gh copilot in vscode and make new worktrees when I want parallel agents that are both going to write code.

For research, planning, figuring out bugs, etc I usually don’t bother creating the worktree until I’ve decided on the implementation.

I’m sure there’s better workflows and software, but all I’ve got for work is gh copilot and Claude enterprise. I like copilot better than Claude for the most part.