I can echo almost all of this, to the point that I was wondering if we used to work at the same company.

(I fully believe on purpose, to milk more money out of NASA)

I remember a pretty absurd situation along these lines. We ended up delivering faulty hardware to the prime contractor, who said there wasn't a specific requirement for this failure mode, so they wanted to ship it, get paid, then have NASA fail it, write a new requirement, and buy another. The world of contract modifications and requirement lawyering always left a bad taste in my mouth. There are a handful of companies that I really want to see get banned from NASA contracting.