Gas Town is from the creator of beads.
Outside of that its trial and error, but I've learned you don't need to kick off a new chat instance very much if at all. I also like Beads because if I have to "run" or go offline I can tell it to pause and log where it left off / where its at.
For some projects I tell claude not to close tickets without my direct approval because sometimes it closes them without testing, my baseline across all projects is that it compiles and runs without major errors.
But to keep things tractable, i've kept the orchestration within a collection of subagents in a single Claude code session. The orchestration system is called Pied-Piper and you can find the code here - https://github.com/sathish316/pied-piper
It is only 1.6k Lines of Go code.