Remington and Bushmaster did not exactly have the experience of "designing" more complex semi-automatic military firearms. Bushmaster is more of a manufacturing specialist, but not designing. They must have hired some new people(or headhunt a few from other companies) or used a few consultants to help them in the ACR.
The original calculation might have be done by magpul and they have not been touched. They just focused on the manufacturing aspect. You know, it has been working, everyone expects the other has done due diligence....but the fact everyone just harsh it out until issue pops out. Then everyone is oh well, I do not know you have not looked deeper into this area.