This is all true, but I think its a symptom of a more fundamental problem, which is the complexity of the system, and the attendant speed and cost problems that

This is all true, but I think its a symptom of a more fundamental problem, which is the complexity of the system, and the attendant speed and cost problems that drive agents to these outcomes. If the system worked transparently and quickly, then a lot of the other problems would go away. Plea deals should be the exception, not the rule.