" It conceives, engineers, and manufactures horses designed by committee. "
The sad part is that NASA does do some solid work. The inflatable heatshield concept is one which promises to be useful for a number of missions (it means the heatshield can be significantly larger than the spacecraft, which reduces reentry temperatures dramatically and allows much easier aero-steering
SLS is likely to be far more uncomfortable a ride than FH or BFR. I'll be very interested to see the shake force readings from all three (rocket launches are violent as hell and we have to engineer the hell out of payloads to ensure they can survive)