Without any additional harness SKILLs, you’re not going to get something as good as a human will create - for larger/full applications, scripts and script sized apps is ok.
Self promotion time: I have been working hard on this problem for a long time and have come up with a plugin to help. Currently just for Claude Code, but Codex and OpenCode versions are in the works. Its not necessarily going to speed up development, but the goal is to produce usable applications, not slop. I am using it to build my own apps, so it is under heavy active development. It also has a built in Kanban board for managing tasks.
Coder-Fleet: https://github.com/rzem-ai/coder-fleet