Tight negotiating?

Negotiating often implies the idea of extracting the most out of a give-and-take process and skinning the deal in such a way that both sides can get as close to a “true” win-win situation as possible. This approach in my view is at best a utopia and at worst a difficult, time-consuming and dangerous process. By wanting to get so close to the “optimum” threshold, we often run the risk of ruining everything and particularly of aggravating and exasperating the other party. From either sides of the fence, the expectations of a true win-win and a “fair” outcome are likely to be vastly different and no one will ever be happy.

It would seem to me that smart and seasoned negotiators are those able to leave something on the table to make the opponent feel good and even think that they've got the better side of the deal. In my view, it's preferable to make a multitude of good deals than sometimes one or two exceptional ones, or in a worst-case scenario miss them all... Do you happen to agree with that philosophy?