I taught three courses at Stanford for ten years and one course at UC Berkeley for four years and I wish I had followed up on my hatred of grading -- what it does to both educators & learners, as well as questions about whether it enhances or inhibits learning. More recently, Ungrading has come into its own, based on and advancing older pedagogies. @Jessifer has provided a great bibliography for those who want to learn more:
https://www.jessestommel.com/ungrading-a-bibliography/