Working without Sprint Goals guarantees technical debt

How friction prevents perfect plans and demands the scope of your Sprint to be flexible

Every Sprint, the Scrum Team comes up with a plan during Sprint Planning. No matter how much time you spend in Sprint Planning or how experienced your Scrum Team, you never end up with a perfect plan. For some reason, your plans are always flawed and need to be adjusted.

Why does it seem impossible to make a perfect Sprint Plan, or any perfect plan, for that matter?