I'm appalled at how hard it is to find any usable information. The
many government websites involved are full of rapidly changing links, so even links between government organizations are broken.
From what I can turn up, you are correct about the Visa Waiver Program. Once you enter the USA, your 90 days begins ticking. The one and only way to reset it is to leave the region of the USA, Canada, Mexico, and minor islands.
It appears, however, that if you skip VWP in favor of of a B-2 tourist visa, you can renew this upon reentry, with no hard-set limit on renewals.
As in all things, everything is up to the discretion of border patrol. It seems that while reentry renewal of a B-2 visa is considered normal, they generally want you to go back home for six months out of the year.