Does NASA have outside auditors with a highly adversarial relationship reviewing its launch procedures?

I don’t think it does.

I’m pretty sure NASA has an excellent internal team of quality control specialists. The specialists are a part of all aspects of deployment and launch.

They don’t just pop in and review work, they’re constantly there.

They’re also very much “part of the team.” They don’t strictly speaking “have teeth.” They’re focused on the same mission everyone else is, only with a special focus on making it happen safely.

Maybe you mean something like the relationship between the FAA and airline industry.

But that’s very different from how NASA operates.

So it’s clearly not the only model.