The BeOS kernel is as totally un-UNIX-like as (say) Windows NT/2K/XP/7/8/10, designed from the bottom-up to be “pervasively multi-threaded” at a time when multi-core chips were at least fifteen years away and multi-processor systems were utterly exotic, lacking even the most fundamental UNIX precepts (everything-is-a-file; multi-user environment; GUI mandatory and in-built). It just ‘seems’ UNIX-ish at first glance because it has a POSIX compatibility layer added on top in hindsight (or foresight) to provide a standardised shell and GNU userland utilities, as well as providing the key compiler toolchain (GCC 2-or-3-dot-something, if memory serves).
HAIKU is basically a clean-room reimplementation of the public (and private) framework modules' APIs and as such doesn't even (really) descend from BeOS-proper at all.
(Avid late-1990s BeOS user, dual PowerPC 603e-133 BeBox owner, HAIKU supporter.)