This principle aims to get the most of your team early on. Make sure they are effectively and efficiently working on their end products and not fumbling around not knowing what to do. The trade-off is their own distinct learning experience. So make sure you have both: Highly effective work periods and learn and trial periods for your team.
Whatever the current direction is make sure to setup your team first so that you can later cover all your topics in your timeline. Same goes for collaborating with clients. Make sure they are fully on board and effective instead of having to deal with uncertainty and the feeling the project is unclear and unorganized.
Once your team levels up you can let them run more freely and have even more time to deliver the overall impact. Since in real life you have many juniors on board and quite some scope to cover you should apply the aforementioned principle often and early.