Contractors like Boeing for SLS generally have sweetheart cost+ deals. They have zero incentives to cut costs -- nay, they have an incentive to increase costs

Contractors like Boeing for SLS generally have sweetheart cost+ deals. They have zero incentives to cut costs -- nay, they have an incentive to increase costs because their profits are the "plus". SpaceX isn't interested in a sweetheart subsidy deal. They are competing. That's why their contracts with NASA are fixed price: it gives SpaceX every incentive to keep costs down so as to maximize profit. Surprise! SpaceX is doing better than the competition that gets sweetheart deals. It should really not be a surprise to anyone though, but it probably is to some.