I'd argue the incentive wasn't there until CCP. That was the fundamental difference in the last 20 years. Without CCP, I don't think SpaceX would be successful, either. But I will say they've done much more than the Boeing at executing on that incentive.
I do think you may be overly cynical in your characterization, though. It wasn't too many years ago that Boeing was listed as the most desirable company to work for by college students. The reason isn't that they thought it was because they couldn't wait to gouge the public coffers, it was because aerospace has always been considered a sexy engineering discipline. You'll almost never find a civil engineering firm on those lists because "roads and commodes" just aren't considered cool.
Back to the question, I'll weigh in with my perspective. They are all responding to incentives, albeit different ones. But we have to acknowledge the downsides of each. SpaceX is awesome, but they aren't without their own psychological pressures and biases. I've brought it up elsewhere in this thread, but they have wanted to rapidly iterate rather than fundamentally understand some of their design issues. I suspect this is partly cultural (where operational tempo matters more than scientific rigor...i.e., "we don't need to know why it works, as long as it works") and some of it is business (i.e., they have specific contractual deadlines to consider). Those are also some of the issues that lead to mishaps dating back to Apollo and Shuttle.
Considering you seem to think the legacy downsides are due to the business/shareholder side, do you see the same issues encroaching on SpaceX if they go public?