I built an internal tool that does this. Having the ability to spin up sandboxes on demand to run a harness(es, depending on the task) and having a collaborative thread which multiple people can chip in with their opinions. Mostly the attempt is to make a coding harness part of the discussions that we as humans usually have during the day (on Slack, ticketing systems, GitHub etc.) and trigger the harness to do the grunt work based on those discussions. First creating a plan what is iterated on and then doing the actual coding based on that approved/finalized plan.