Now here is a good perspective of waterfall. Its true, waterfal is about good estimation.
It is also undoubtely true that agile is young, although it has 10 years already. But in most cases it is not being applied properly. Which means, in order to mature and for flaws to be found and improvements to be made... it has to be used. Put into practice.
Undoubtely I prefer constant and continous delivery of value with proper feedback involved and the power of anticipation it provides.
Learn as much as possible about what you have in your hands. Decide where you want to go. Only then should you apply the required steps to get there.
If you are ok with waterfall... fine! Just use it wisely and take the best of what it has to offer.