I'm driving a project with ~5 engineers. Even though we're on track to make it now, the initial road was somewhat rocky. We had to go through a lot of conversations to get execution started, spending ~50% of the allotted time on planning and alignment. This led to scope being reduced for v1 and us building less features that we would have liked.
As a startup, I know that we should be moving faster - What's the best way to handle the project from here and how can I improve in this area in the future?
I'll split my advice here into 2 overall schools of thought: What you can do in the short-term and what you could do in the longer-term.
These are just some ideas from me; the best thing to do is work with your team to figure these out.
These are not entirely connected, but I recommend checking these out as well if you have the time: