Not that it has brought launch costs down much, considering how the ULA loves their juicy government contracts for billion dollar NSA/NRO satellite launches.
IIRC the Falcon 9 engine design is the opposite of an RS-68, which is the "one huge fucking engine" design philosophy, which is why a falcon9 has a cluster of many smaller engines and is tolerant of an individual engine failure during launch.
Indeed! A Falcon 9 mission has lost an engine mid-flight, and the flight system adjusted the burn duration on the fly to compensate:
After all, you never put passengers on the very first flight of a new airliner. You test it out first, and then once it's demonstrated you start using it for real. We'll know that reusable rockets have really made it when the first flight of a new one is done as a test flight without risking any lives, and only afterwards is it put into normal use.