Primary differences between Soviet and US Sub designs during the cold war (2016)
reddit.com
reddit.com
Part of the reason this worked this way was that the USSR had a number of fiercely competing design bureaus, while the US had a very centralized process with a very domineering research head. Quoting a Soviet designer: "We had competition in submarine design. You (with Rickover) had Stalinism!"
It's interesting how different this was from their aircraft design philosophy: https://www.reddit.com/r/WarCollege/comments/9abbo3/what_wer....