SpaceX's advancement is impressive, but if NASA had never happened, I doubt SpaceX would even exist today.
>In 1992, Dan Goldin became the NASA Administrator. Goldin believed in a philosophy of Faster… better… cheaper—i.e., he thought NASA could do more with less. Hence, Goldin did not support the idea of having large EOS platforms in space and in fact once referred to them as “Battlestar Galactica.” He believed smaller, less expensive missions that could be built more quickly were the way to go and supported development of new programs that actually diverted funds from EOS.
[1] https://eospso.nasa.gov/sites/default/files/eo_pdfs/Perspect...
In any case, this exact question was asked here, and the top-rated response indicates that it's unlikely that the design requirement was ever meant to refer to grabbing an uncooperative payload:
https://space.stackexchange.com/questions/41741/was-the-spac...
[0] https://library.psfc.mit.edu/catalog/online_pubs/iap/iap2016...
This quote from the presentation summarizes it well:
“The more money that's involved, the less risk people want to take. The less risk people want to take, the more they put into their designs, to make sure their subsystem is super-reliable. The more things they put in, the more expensive the project gets. The more expensive it gets, the more instruments the scientists want to add, because the cost is getting so high that they're afraid there won't be another opportunity later on- they figure this is the last train out of town. So little by little, the spacecraft becomes gilded. And you have these bad dreams about a spacecraft so bulky and so heavy it won't get off the ground- never mind the overblown cost.”
“That boils down to the higher the cost, the more you want to protect your investment, so the more money you put into lowering your risk. It becomes a vicious cycle.” - Rob Manning, Chief spacecraft engineer, JPL