I've been working on a similar project https://github.com/BumpyClock/tasque . Tracks tasks (Epics, tasks, subtasks) with deps between them. So I plan for an hour or so and then when I walk away from my desk I had the tasks for the agents to code and then I can come back and verify.

Edit: minor note, one additional thing that is in the skill that the tool installs is to direct the agent to create follow up tasks for any bugs or refactor opportunities that it encounters. I find this let's the agent scratch that itch of they see something but instead of getting sidetracked and doing that thing, they create a follow up tasks that I can review later and they can move on.