Many of NASA’s problems aren’t the fault of NASA, they are the fault of Congress. NASA didn’t come up with SLS+Orion all by themselves, the high-level design was dictated to them by Congress and NASA was left with the job of fleshing out the details and making it all work somehow. SpaceX needs NASA as a customer and a source of valuable expertise, it just wants it freed from being forced by Congress to spend billions on super-inefficient projects such as SLS+Orion, when SpaceX has a solution which can do more for less (Starship+SuperHeavy) and is likely to be available soon (bureaucratic delays due to the FAA and environmental agencies such as the FWS being under-resourced being the current biggest obstacle to that)