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NASA is more of an engineering master contractor. They build specifications to be met by others.
That is 95% false and is the nonsense that has mostly been pedaled by the musks of the world to justify privatized space flight.
Like everything with the US military industrial complex, we split everything up to nonsensical degrees. So much of the research and designs NASA uses are based on work and spec by the Army and Air Force. Which, in turn, leads to very specific proposals for companies like Boeing (eep) and the like.
But the actual design and research and even "small scale" testing? That is generally NASA and JPL. JPL in particular being a government research lab (similar model used by the Navy and the DOE) that coordinates with in house talent as well as university groups around the country.
But as spacex and the like basically poached so much of the top talent out of NASA and JPL and universities? It stopped being "Build this rocket to these specs" and more "Hmm. That rocket you are trying to sell us looks REAL familiar but we have been told by congress we can't design it ourselves so here is your money. Say hi to Fred for us."
Well I dealt with NASA quite a little bit. But, you know best I Suppose.
Sure, you can argue that the.space race was formed, and many accomplishments that came from it, are a result of a military dick measurement exercise. But, maybe there is something you don't know. When man adventures, the development of technologies follows. This has happened throughout history.
BTW, JPL fixed Voyager the other day. Launched in 1977 it is the first man made object in interstellar space.