I think kernel development is a lot slower and more incremental than it used to be, which is probably a good thing. However, back in the "wild west" days we had some very good books that explained in detail how the kernel works. Now, if someone wants to get started in kernel development, I wouldn't even know what book to recommend; all the good ones I know of haven't been updated in a decade.
I think this is perhaps an overlooked aspect of Linux's success; at a critical time, they had LWN and good documentation that made it easy for new developers to understand what's going on and start contributing. I don't know any other open source project that is as accessible to new developers as the kernel was in the early 2000's.