Cgroups is a great example of the problems faced here.

The cgroups code/API that made it into the upstream kernel was the product of a couple of years of internal experimentation at Google into ways to do kernel-level resource isolation, and was pretty different from the approach that was used internally in production on a rather older kernel version. (A bit like Borg vs Kubernetes). And it still took a couple more years for cgroups to replace the original internal mechanisms, since the internal way worked OK and upgrading the kernel across so many machines was risky.

And now we have CgroupsV2 to fix all of the issues with the original

Yes, and it shows (it's notoriously poorly designed)

But it has the best design property of software: it exists and works in production.

That is what I tell myself when I get to review offshoring code.

Is Google notorious from poor design, or is there some other reason why cgroup being poorly designed would have to do it being designed by Google?

When it comes to Linux kernel work, yes.

From Android point of view, poor design.