There’s always some twist to account for some customer demands or something. And tbh, that’s probably how it should be.

I'm pretty sure this is literally part of the agile manifesto. You should adjust things to what works on your team. I don't have a strong opinion on agile/not-agile because its all working in corporate environment and that sucks regardless, but agile itself is supposed to be... agile. It's just vocal developers are often rules-nerds so you get people talking about "proper agile" for no real reason other than the express their dissatisfaction at how things are going while simultaneously proving how smart and good they are for knowing the rules.