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Has SpaceX Done Anything NASA Hasn't?
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Yes. The shuttle was both rocket and spacecraft, obviously controllable for landing. The Shuttle SRBs were reusable. They were not controllable for landing, but nonetheless they did land in a state that allowed reuse.
Musk achieved powered flight for landing his rockets, but even NASA had a long history of research with VTOL powered rockets that were not used for spaceflight.
He can certainly claim to have perfected it, but he certainly didn’t invent it.
He did jack all, SpaceX engineering teams did everything.
Well, yes. That is true.