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These are not really comparable. The Shepard rocket is sub-orbital and achieves something like 1/5 or less of the same speed as the Falcon 9.

It's also not carrying a giant payload and 2nd stage.

> Their rocket has not gone into deep space

Nor has Falcon 9. It would be more correct to say that no Blue Origin rocket has been to very high energies though, much less returned from them.

It is not space vs. deep space. It is space vs. orbit. Orbit means having the speed to not fall back to earth.

To be fair, Falcon 9 stage 1 has never been to orbit either.

Stage I is capable of reaching orbit with a small payload, adding stage 2 dramatically increases how much mass you get to orbit. However, stage I is expencive enough they are not going to waste one without an upper stage.

True enough, but it's going an awful lot faster since it's aimed for orbital trajectory to inject the 2nd stage. So, it has tremendous horizontal velocity. Shepard, by comparison, just goes straight up (vertical only), so it's total velocity is far lower.

Falcon is in a totally different class of difficulty and complexity. I mean, the grid fins caught on fire and began to melt. That gives you a good idea of what sort of forces are involved in the descent.