My observation from the peanut gallery, is that Palantir has been successful because they created a tech-culture incentive system for engineers, whereas legacy contractors (Booz, Deloitte, Accenture, CACI, Boeing, etc.) treated engineers as cost center plus. I think it was literally as simple as: pay engineers Big Tech competitive salary, allow them to collaborate directly with clients to develop solutions, and actively remove Product Managers/Contract Managers from interfering -> megabucks.
To your point, I don't think this is an intrinsic or structural moat. To the extent someone can do these things better or faster than Palantir, I could easily see them beating Palantir in the future.