Yes, SpaceX moved fast in its early years; Musk threw everything he could afford at the project and raced to the finish line, whereas Blue Origin only really stepped into high gear very recently.

It's true that Blue Origin started early stage work around the time you say, but you should keep in mind the sort of projects they were. Charon was a few Rolls-Royce engines connected by a metal lattice. Goddard was a conical capsule that flew to 85m. This was not anything close to the levels of effort that SpaceX was putting in with Falcon 1 and Falcon 9.