Emacs uses a gap buffer because TECO used one, long before RMS finished high school.
Emacs was initially just a bunch of macros (in Eugene Ciccarelli's TECO init file IIRC) that provided an easier interface to TECO once a realtime display mode (^R mode of course!) had been added.
Yes, in TECO, control R was a keyword in the language. If you don't know TECO it looks like line noise. For controlling an editor, that's not necessarily insane.
Yeah, gap buffers LONG predate RMS.
The author of TECO, Dan Murphy, wrote an article about its history for the IEEE Annals of the History of Computing. A PDF copy of the article is available here: https://opost.com/tenex/anhc-31-4-anec.pdf
Alas, it does not discuss the gap buffer.
The book The Craft of Text Editing claims the gap buffer technique was first used by TECO (http://www.finseth.com/craft/#c6.6), although this claim is given no support.
A quick search brings up only references in the 1990s or later...