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Some teams I have been on had guidelines for “point sizes” or a rule like “all sprint tasks must be broken down to this size +/- 50%”.
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At the project level, I learned by asking a TPM to teach me their ways, and read a lot of blogs plus a book about it (Software Estimation by McConnell). Back in MechE school we did a bit of Gannt Chart / dependency analysis etc.
TPM tips: weighted averages for tasks, mapping out dependencies so the schedule isn’t just # of days / # of people.