To some degree that's the case. The Falcon 9/Dragon do very much get a benefit from modern technology. Better machine tools, high-speed digital communications and onboard computers, better material science, the ability to run computer simulations of different flight profiles or to model the operation of a rocket engine, etc. However, in another sense the Falcon 9/Dragon represent very primitive designs. Indeed, 1950s or 1960s designs even. A simple cylindrical 2 stage LOX/Kerosene booster in combination with a simple frustrum shaped manned capsule. These designs have heritage going all the way back to project Mercury.