Defense in depth has value I agree, but I think it can also be counterproductive in some cases. Every layer can also be buggy and have vulnerabilities, which can often leak (e.g. into code execution) and compromise the whole system (bypassing layers). What happened in this case seems to be a case of maintained hijacking and introducing vulnerabilities. Adding an additional dependency (of say a port-knocking library) doesn't look great in that regard, if the dependency can be hijacked to add remote code execution capabilities. And that library is likely a lot less scrutinized than OpenSSH!

Also underrated I think is security by simplicity. OpenSSH should be extremely simple and easy to understand, such that every proposal and change could be easily scrutinized. Cryptographic constructions themselves are almost mathematically proven invulnerable, then a small codebase can go most of the way to mathematically provable security (bonus points for formal verification).

But for this kind of system there's usually some kind of human vulnerability (e.g. system updates for your distro) in the loop such that the community needs to remain watchful. (It's fun to consider an application that's proven correct and doesn't need updating every again, but usually that's not practical)