To be fair to NASA, I don't think SLS would be nicknamed the senate launch system if it was up to them.
I totally agree. NASA is definitely not incompetent, they are just saddled with bureaucracy and the wrong incentive structure. It's an inherent problem with public institutions, and that's why this public private partnership is so important.
NASA is currently developing the Space Launch System (SLS) and has spent over $20b with almost nothing to show for it.
https://en.m.wikipedia.org/wiki/Space_Launch_System