Agile isn't broken your leaders are
People can attack Agile all they want but when done and built correctly it works great. The problem is always the leadership, especially the business side and not the coding side.
Communication is the key and empowering your teams to make decisions is a must. Engineering managers need to just become people managers and servant leaders that make sure employees have everything they need to succeed. I wrote a book on Amazon with the same title that goes further in depth if you want to check it out.