The popular/recommended pattern for using Jenkins pipeline is to abstract the course grained build "steps" out to shell scripts and to use Jenkins pipeline to orchestrate the whole build process by running these steps at the right time (in parallel blocks etc), capturing human approval, making it all "durable" (tolerant of restarts) etc etc. If you find yourself putting lots of complex build logic into a pipeline script, then you're probably doing something wrong.

Doing it this way reduces the tie to the "product" and also means that you can easily test the individual self-contained steps outside of the product.