DR testing is hard, complicated and costs a lot. Yes, it should be done regularly, but it's not an easy task; I believe small(ish) companies simply can't afford it.
DR is not a luxury. Systems that don't properly do DR aren't unoptimized or something, they're badly engineered.
It's more than a cliché that without restore tests, you don't really have a backup-- if the customer won't commit to testing the DR, we won't provide the service anymore. Anyone who pretends anything else is acceptable is kidding themselves.
Those all look like more trouble than they're worth before you start, but they aren't that hard. And you'll recover your whole investment the first time you need to restore something and it's just a simple tweak to your standard test practice.
If they had done this exercise even once a year, they would have known better what to expect, or how much it would take.