Looking for empirical evidence, data, studies, etc. on how focusing on quality in software development affects total cost of ownership

Trying to be objective, but basically looking for evidence to support the claim that, investing early in quality processes via rigorous requirements gathering, architectural planning, and testing will be less costly in the long run versus writing code as quickly as possible and deploying whatever you can make work.

When I say quality, I mean testing code and taking time in planning features (from requirements, to architecture, to code implementation).

I expect some people might think, "duh, if you focus on quality from the start, you will have a higher quality product that is cheaper to maintain." However, I'm looking for hard evidence rather than just logic.

I appreciate the help and any references / input!