I agree. It is never black and white, and the applicability of any rule or principal also depends on the context.

A small company cannot afford to do planning like that of a billion dollar company.

A billion dollar company cannot afford to plan like a small company (that is, not do much of planning). And for both, the folly always is in waiting for completing the perfect plan, before acting, because there is nothing such as the perfect plan.

Note: 'Afford' as not just in money terms, but the risk of taking the extra time to plan.