Discovery was led by myself and included the Product Owner, Lead Engineer, and Lead Researcher.
The two researchers worked a sprint ahead of design which in turn was a sprint ahead of delivery. Being Agile and on a greenfield product, we often had to be flexible with our ways of working to ensure we continued to deliver the most important next thing.
When I was instated as the Product Manager we adopted a dual-track agile process to increase our agility, which led to our best through-put (most story points complete, highest % of stories in sprint complete) and quality (least bugs) at a time when the project was under stress.