The failure in that case is only that the admin didn't consider that normal work might be done from home at some point or that the middle or upper manager thinks that he should be able to freely administrate his critical infrastructure from anywhere...
It's so common the security community should make it a meme to spread awareness: Don't get pwned by DHCP while running from SSH 0-day RCEs.
So can lack of security.
in the example you mention the 'security' is working by design, but the operational parameters changed which in turn made that security model unsuitable - so it is the parameter change, rather than the 'security' is what led to the problems.
The original system could have been just as 'obscure' but also included an appropriately secured mechanism that allowed for this kind of remote access / disaster scenario.
Except that can lead to operational problems down the road. For example "oh yes, we're nice and secure, not only do you need a 512bit private key to get into this device, you also need to connect from a secure network"
Then along comes covid, and you can't get into the building.
"Oh dear, you're not on the secure network, you can't come in"
So you spend 2 hours (while your network isn't working right and you're losing customers) finding and getting in through a back door.