Also it’s remit is much wider than launchers. It is still hampered by the politic imperative to do all the things that make projects late and slow - spreading all the work around as many states, companies and people as possible. Having a ton of process and paperwork to try and manage it all.
Everybody stands on the shoulders of giants.
You can find dozens of videos of Elon or Gwynne Shotwell (SpaceX COO) saying how helpful NASA has been to SpaceX.