Having no plan is planning to fail. A plan isn't a limiter and "Not having a plan" is pretty much impossible. A plan is merely a prediction of likely events and responses. To not plan you would have to leave time and causality behind. Also we have scientifically demonstrated that IQ and Conscientiousness are the largest predictors of success. Yes science has literally proven that smart, hard work is the path to success (also called planning) and it likely comes as no surprise to anyone reading this.

Now I get you are trying to tell people to stop worrying and let life unfold before their eyes, beautiful things will happen. This isn't because planning is bad but that we are too limited to be coming up with comprehensive enough plans to make everything work our perfectly and the act of planning too often gets conflated with the act of worrying and thus can make life less fulfilling.

This is more a call for adaptable well construed plans that aim at things that are good for the planner (Which is the vast minority of plans). So stop chewing the inside of your cheek, worrying is useless. But also if you don't want to be that drugged out homeless man who sits in a carboard box with a bamboo fishing pole with the cup for a hook and a joke written on the box in sharpie, planning is definitely something you should consider, as everyone else is planning on not being that guy and if you say, "not it" last you are it. Simple as that. we will make you into that archtype in our effort not to make ourselves into that archtype. So it would be in your best interest to to make yourself surpass that archtype too.

A better way of looking at it is "Failure is to be expected, success is exceptional"