Delta IV heavy looks pretty similar to the Falcon Heavy approach. I would imagine there was some knowdgle transfer there.

That being said, SpaceX is taking a much more pragmatic and efficient approach to building rockets with far less bureaucracy. This is the epitome of private sector efficieny over government projects.

I recall reading SpaceX had to reinvent quite a few wheels because the existing private sector was far too expensive — everything from cryogenic pumps to sea recovery of lower stages.

The problem is lack of meaningful competition, rather than government vs. industry; governments can be very good when competing with other governments.