SpaceX for comparison only relieved about 100m a year[2], or 0.0026% of the federal budget. Boeing and other groups have similar funding for their space programs. They also, as a commercial company, must be profitable (or try) which isn't as easy as it sounds.
Rocket development is slower even with better modern tooling because we just don't put any money into it anymore.
[1] https://en.wikipedia.org/wiki/Budget_of_NASA [2] https://www.quora.com/What-is-the-annual-budget-of-SpaceX