Aren't those companies great examples of this though? They have a great vision, but really try to play inside the existing system except for one thing. Tesla for example haven't yet done much innovation that the other car companies don't, except for betting hard on electricity (or more specifically, batteries). A more radical approach challenging the whole system on all fronts would be to re-think personal transportation (perhaps cars VS horses is a better example of that). Sure, they realize that in order to make electrical cars viable, they have to put up chargers. But that's really just a means to an end (batteries/electricity as fuel). Same goes with how they sell cars - they have to in order to break through the market, it's not something that is necessarily core to their business or why they exist. They exist to replace ICEs with battery driven mirrors. The rest can stay. (autonomous driving might be more revolutionary if they succeed and create something different than what cars are today, but that's a lot of ifs and buts)

Apple is also very much in that corner. The smartphone existed long before the iPhone. They just packaged it and polished the concept so it made sense for a broader market (and they are/were really great at that), but how radical were they really? Revolutionary after a while perhaps (if you can be a slow revolutionary - seems a little bit contradictory), but technologically they just put a lot of existing techs together and packaged it differently than the existing players for a different market/crowd and had tremendous timing (I bet the smartphone revolution was coming either way, they just helped define the concept and bridge the gap from early adopters to mass market).