Another way I like to think about the question of “to estimate or not to estimate” is what is the opportunity cost of the effort spent estimating. In other words, what else could you do with the time you spend estimating?
You could use that time to estimate the value to help prioritize the team’s work.
You could use that time to identify 2-3x divergent ways of approaching the same problem, finding approaches that are cheaper or that can be tried if the first approach doesn’t work.
That said, it is important for work to be roughly similar in size to abandon estimates, which takes time as a team gets familiar with each other. And it’s still important for team members to have a way to identify work that is too big, too ambiguous, etc - perhaps a hand signal that any team member can quickly throw - similar to planning poker. Therefore, for a new team, estimating might make a lot of sense. As the team matures, abandoning estimates may also make a lot of sense, using that time for more valuable things.