There is also a question of will though. IANARS (I am not a rocket scientist), but it seems to me a lot of political investment behind rockets in USA and USSR was military in origin. This meant the rockets and rocket engines they spent most effort on was for single delivery of a warhead with no chance of reuse. Civilian rocketry was just a byproduct of efforts to deliver the bomb. We see this with Russian commercial satellite launches using repurposed ICBMs. If military didn't care about the reuse, the civilian programs would have had to work on it on their own.
I believe that with enough will and advances in technology, engineering problems for reusable rocket engines could be overcome.