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Why has TDD be a discipline?

There where times where I was so proud of how disciplined I am. Nowadays I see the need for discipline as a failure of process. The process of how I come from ideas to business value in my flywheel.
So why is testing still a discipline?
First of all: I love TDD. I had many algorithms in the past I am sure, it would have cost me hours of developing. But by doing one concrete example after the other explained by a test together with keyboard golf and refactoring the algorithm just emerged. With profiling and measuring, I also get it very fast if required without having to worry about the functional aspect of the algorithm.
These moments are pure joy.
So why is testing still a discipline?
The requirements are not clear most of the time. This lies in the nature of my tasks. I just have to deliver customer value, but don't know exactly how.

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