Company has a goal for 5% increased velocity, what they want: teams get more efficient at pushing stories through to completion, what they get: teams just estimate 5% higher.
And large companies will probably never learn, because at some critical mass it becomes less important to ship than it does to tell people how cool the product you want to ship is. Devs don't get paid for shipping outside of a short surge of stocks (which they proceed to not be able to take advantadge of because potential insider trading). Heck, some industries just let you go after you ship.
