In the end, the benefits gained are a trade-off with the time spent by the team on the estimates. There are many ways to do this. For instance, estimates could have their own dedicated meetings that should be kept focused as much as possible. We all know about meetings … enough said.
…f the code itself and even help developers tackle tasks faster than they would have done otherwise. However, note that to take the most advantage of estimates, they should be done as a team. You could also reflect on the estimates during your post mortems; there will be more lessons to be learned.