My employer develops safety critical software with decades of legacy code, long term support for multiple versions, and big customers. In our attempts to transition(in a mock way for the time being) to rolling releases we&#x27;ve &quot;simplified&quot; to a process with 3-5 people reviewing designs, 2-3 developers doing code review&#x2F;light testing, 2-x(depending on affected modules) quality assurance people doing heavy testing and occasionally we pair program. Documentation&#x2F;logistics is almost always more time consuming than design and development. I&#x27;ve had 4 character code changes take weeks to get through the process as several people have to find the time to look at it even for just an hour. It&#x27;s cumbersome but we do catch a lot of bugs, and we&#x27;re slowly getting better at design.