NASA is great, and did a lot of great things. We also got a lot of great technology (and some questionable shoes) because of it. But NASA suffers from the same thing Blue Origin does, bureaucracy and a top-down attitude with respect to developing technology. (They also suffered from a lot of government pork.) It's a good system for developing new things from scratch with a clear goal, but it rarely works well for taking existing technology and wringing the most effectiveness you can out of it.

Besides all this, the shuttle program suffered from ties to the military, which put in expensive requirements that didn't help the whole thing, either.

If NASA got out of the rocket launching business and contracted out that part of their mandate to others, they would have a lot more money to spend on other things, such as research, both pure and practical.