There needs to be, and is, more to Agile than just the idea that you can (re-)plan during execution - no sane traditional/waterfall framework would insist on an unalterable "steady as she goes". There's always the urge to learn and improve from execution experience as early as possible.
To Article's point then, if your organization's issue is that you're not learning or implementing lessons, TPM is not the only problem. There's something in your company's organization or culture that prohibits it - and will continue to do so.
What is apparently generally regarded as the first published description of the waterfall method, from 1970  (and which is, like most descriptions, critical of it) observed that in practice all the steps were iterative (and that the feedback was in many cases non-local.)