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[–] 2 pts

DC-X - The NASA Rocket that inspired SpaceX

FTFY

From the comments:

The thing that space X changed is to make it two staged. There is no point in accelerating the heavy lift off engines to 27t km/h. Just return them and be way more efficient in space.

[–] 1 pt

IMO the focus was more on the reusability and reentry portions. Yes, SSO certainly carries a burden.

[–] 1 pt

They all had pros and cons.

DC-X was an amazing piece of technology though, and all the engineers working on it greatly contributed to the advancement of the rocket industry