> How can you even develop something if you don’t have a clear idea what you’re building?

But, the statement "we don't even understand our problem well" is typically correct. In most cases where new software is started, the problem isn't well-defined, amenable to off-the-shelf solutions. And you will never know as little about the problem as you do on day one. Your knowledge will only grow.

It is more useful to acknowledge this reality and develop coping strategies than to persist in denial of it. At the time that the agile manifesto was written, the failure of "big up-front design" was becoming plainly evident. You think that you know the whole spec, and then it meets reality much as the Titanic met an iceberg.

Agile does not say "no design, no idea", it points out things that are more valuable than doomed attempts at "100% complete design and all the ideas before implementation". e.g. "while there is value in (comprehensive documentation, following a plan), we value (Working software, Responding to change) more. (see https://agilemanifesto.org/ )

In other words, start by doing enough design, and then some working software to flush out the flawed thinking in the design. And then iterate with feedback.