Yes, 100%. There's some recent research that backs this up.

Adaptive Auto-Harness: Sustained Self-Improvement for Agentic System Deployment on Open-Ended Task Stream (https://arxiv.org/pdf/2606.01770) talks about this and the efficacy of role- and objective-based agents on unbounded streams of heterogeneous tasks.

I recently wrote down some of my own experience with this: LARPing with Agents (and Why It Works) (https://chrlschn.dev/blog/2026/10/larping-with-agents-and-wh...) after someone called out my role-based agents as "larping". Short of it: role-based, fully "JIT" agents have increased autonomy in my coding workflows end-to-end. I get very good outputs with few skills required and less human instruction input.