It isn't even that. ffmpeg and libav were two competing forks of the exact same project, not two distinct projects working to implement the same thing.
But given enough time they would become very distinct.
ffmpeg is a fairly complex project which deals with a number of esoteric topics (audio/video file formats, compression, processing, etc). The number of open-source developers who are qualified to work on it, and who have the time and inclination to do so, is fairly limited; I suspect that there simply isn't a large enough population of those developers to support multiple actively developed projects in this space, and certainly not two as similar as ffmpeg/libav were.
No, I think it actually can be true. For example, since you point out Linux, the world is better for having FreeBSD, because FreeBSD does things that Linux can't (ZFS in-tree) or won't (combined base OS, not just a kernel).
Note that this works when there's a significant difference; if we start with a fork of the exact same code, it'll need a real driver to matter (example: any project acquired by Oracle and immediately forked by the community).