Correct me if I'm wrong but didn't SpaceX benefit from the knowledge gained from (the failures of) NASA projects? Knowledge doesn't start from scratch each tim

Correct me if I'm wrong but didn't SpaceX benefit from the knowledge gained from (the failures of) NASA projects? Knowledge doesn't start from scratch each time one starts a new project. I find it hard to argue that that money was a waste. It's a slippery slope to claiming that science shouldn't be funded, which we know is wrong; knowledge needs a space where it can fail without repercussions, this is how most modern technologies were invented [1]. [1] https://www.youtube.com/watch?v=8jTCBirELDU https://www.youtube.com/watch?v=8jTCBirELDU