I didn't live through the early space programmes, but having read about them recently, I'm surprised by how incremental they (and the Soviet Sputnik and Vostok counterparts) were. - The early Mercury flights developed the idea of putting a human in a capsule on top of an ICBM to see what happens at altitude and during re-entry. - Later Mercury flights experimented with de-orbiting techniques. (The early flights didn'…
I think it’s probably a symptom of wider culture. In the 60s every major industry was in the middle of a massive improvement cycle, a lot of the engineers would have learned their skills during the R&D boom of the Second World War, and everything was still manufactured locally. It was the perfect environment for rapid engineering improvement.
Most of that has gone today. The major physical technologies we use - vehicles, appliances, manufacturing technology, have largely been solved. Improvement is incremental. If you did a survey of 100 engineers across the aerospace industry you’d probably find a handful who had any experience of boundary pushing R&D - most of the work is in documenting changes and making slight tweaks. SpaceX is definitely an exception.