My problem with regular sub-agents is that after around 2-4 hours the main agent stops working on a task and asks for user input no matter how I tell it to continue autonomously until the ~5-15 stage plan is done, when when it has a clear plan that's made with the plan mode and instructions to continue autonomously.

It's happened multiple times where I give it a task before going to sleep and when I come back it's stuck halfway through on some stupid summary, where my only response needed is basically "Yeah, continue." even though I use Opus. Using workflows for the higher level planning helped with that and those annoying pauses no longer happen, perhaps due to the main conversation being much shorter and apparently not enough for the weights to nudge towards user confirmation.