"Historically, the main goal of agile has been to increase software delivery speed and efficiency, not necessarily make developers' lives easier."
No it hasn't! Agile is about close collaboration with your users in order to build the right things in the right order. Then you can release the most important thing first.
It's about quality, any speed gains are a side effect thereof.
"Perhaps we need a new "Agile Manifesto", or an addendum to the original one, that includes concrete examples of what counts as agile. That would make it easier to put agile into practice and make agile consistent across orgs."
No. As long as we stick to the intent of the manifesto and its principles, we are WAY ahead of the pack already. The principle of "long standing and self-organising teams" does not imply standards. What works for one team might not be ideal for another.
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