Is there any kind of engineering for which that is basically not the case?
Science is about understanding the natural world by building and testing hypothesis.
I can think of some grey areas. For example, in the 20th century it was discovered that the harmonic modes of oscillation of large structures, like bridges, was rather important to their structural stability. Once this was well understood, clearly it was the engineers who built better and stronger structures with inbuilt dampening and so forth. But who actually sat down and figured out the math behind structural harmonic response, and showed how it could lead to disaster? A scientist or an engineer? It seems both very sciency and engineery.