Heliocentrism from its earliest formulation was pretty bad for many reasons, including as you mentioned the desire to maintain circular orbits, as well as uniform velocities, epicycles, and more. You could easily pick a million holes in heliocentrism to 'disprove' it. And the geocentric view, as convoluted as it was, was observably accurate and predictive with 'holes' being plugged by simply having the entire dysfunctional model absorb them - e.g. by simply assuming retrograde motion as a natural phenomena, and otherwise - just add more epicycles.

Heliocentrism was most fundamentally driven by somebody, with extremely poor interpersonal skills (which is much more the reason he was left living his final days in house imprisonment, rather than his theory itself), moving forward on his own somewhat obsessive bias.

Similarly, with relativity. I have no idea what you mean by a 'consistent conceptualization' of Lorentz contraction, but length contraction was a completely ad hoc explanation for the Michelson Morley experiment. It's correctness was/is more incidental than anything else. Einstein did not cite Lorentz (or anybody for that matter), and I do not think that was unfair or egotistical of him.

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I'm also unsure of what you're referencing with Sean Carroll, but I'd offer a quote from Michelson of the Michelson-Morley experiment saying essentially the same, "The more important fundamental laws and facts of physical science have all been discovered, and these are now so firmly established that the possibility of their ever being supplanted in consequence of new discoveries is exceedingly remote.... Our future discoveries must be looked for in the sixth place of decimals."

So convinced was Michelson that the 'failure' of his experiment was just a measurement issue that he made that comment in 1894, near to a decade after his experiment and shortly before physics and our understanding of the universe was about to revolutionary explode thanks to a low ranking patent inspector.