I've been guilty of conflating the terms, but thankfully kept the focus on the outcome not the feature.

It's not always feasible or desirable to have UX in the sprint planning meetings, but it is essential to include developers in the UX workshops.

An exercise I love to do in research debrief workshops is to fill out a chart with problems/jobs to be done on the left, what the user is doing now in the middle, and what we can do better on the right.

Then, together, we turn the right column into user stories. Those can then be copied across into the parking lot as epics.