Of course, the reality is that competent orgs generally exclude virtually all their software from their audit scope, and it would be a mark of incompetence to loop tooling-grade or line-of-business backoffice code into it. But even if you were crazy enough to do that, agents would improve your outcome.
Anybody claiming that SOC2 is a reason agent-based code will falter is talking about the world as they want it to be, not as it is.
Like, I'm trying to avoid hyperbole here, but you're advocating for a wild-west sort of attitude that can, will, and has gotten people severely defrauded or outright injured/killed. And I know you know better than this because you've written at length about what it took to achieve SOC compliance at your current employer.