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Can't speak for Blue but SpaceX felt like an aerospace company, and Musk had next to nothing to do with my day-to-day there.

I had a close friend who was at Blue for a few years under Bob Smith (former CEO). It wasn't great. Just a toxic culture it seemed like, and their HQ is a giant stretch fabric tent with terrible acoustics lol

Everyone I know locally who has worked for SpaceX has had pretty negative things to say about it overall.

Everyone I know locally who has worked for Blue Origin has had extremely negative things to say about it, pretty much without qualification.

So, not great!

or does one feel like a tech company, the other like a government agency?