RHEL 6 uses kernel version 2.6.32, released in 2011, and will be supported until 2020.
With a moving target like Btrfs, which may have plenty of showstopper bugs left in it yet, it’s just not feasible to keep backporting these new features to a an old kernel version.
Once Btrfs stops getting major patches, and is considered stable, I guess it could eventually make its way back.
Btrfs is still very much a moving target, with large patches every release.
Between lvm/dmraid and how much effort they've done to make it simple to use lvm storage for libvirt/openstack/etc., I see no reason why they'd ever support btrfs in RHEL. They would spend more in engineers than they would ever get back in support.
XFS is a fairly simple filesystem. That said, the issues they had were integrating it in VFS. There are still some bugs at that layer today, albeit minor ones. In 5.x, most of the issues were race conditions in VFS and raid controllers (sas bus resets and such). XFS itself is actually very mature but any time they add a new FS, the VFS layer requires a lot of work.