> has no incentive to heavily optimize anything because the people who built it don't get rich by doing so.

Optimization is literally how contractors working for the government got rich. Every hour they spent on research was directly billed to the government. Weight reduction being one of the most important and consistent points of research.

Heck, R&D is how some of the biggest government contractors make all their dough.

SpaceX is built on the billions in research NASA has invested over the decades. It looks like it's more innovative simply because the USG decided to nearly completely defund public spending in favor of spending money on private contractors like SpaceX. That's been happening since the 90s.