The Agile Manifesto says that it's better to get get things to work than it is to write "comprehensive" documentation. It doesn't say you should write no documentation at all. Don't document things that don't need to be documented. 1/4
More to the point, create things in such a way that they don't need to be documented. For example, arithmetically transparent, fully self documenting code, needs only a bit of architectural stuff (mostly diagrams, maps, & few pages of "why"). 2/4
Similarly, if your architecture closely maps closely to the Domain, you don't need to document the parts that just reflect the domain. If the code and architecture is done right, there's so little extra documentation that keeping it up to date is not difficult. 3/4
I suppose that there are large systems so inherently complex that the above doesn't apply (and big-ball-of-mud-spaghetti-code-legacy-systems) but those are the exception, not the rule. If you're just starting, start right. 4/4
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