I agree there are plenty of points for improving efficiency. For example the builder I visited was not vertically integrated at all. They bought manufacturing time on a modular line for their box plans, worked with external designers and all kinds of subs they can't guarantee for onsite work. But having seen it up close I can tell you there is far more opportunity for process improvement on a assembly line (even if each build is custom) than there is in the field.
If you look to Japan, Toyota is getting into modular with steel framing that is way ahead of anything in the states. I look forward to that being available here.