I can't see how to fix the problem you're talking about, that you need to employ two sets of people to do the work of one just so there's 'competition' and the cash is actually directed to R&D by those companies.
The optimal way would just be to have the first team's engineers do the work required. Then the world itself would be better off by a large amount from the saved resources.
I'm not trying to be glib, and your post is terse enough that it is left open to interpretation, but are you basically saying "why don't people motivate themselves to get the job done without operating in an environment of competition?"
(cuz if you are then yeah, that doesn't work, see USSR circa 1985)
You really do need competition to motivate people to be inspired to innovate and create. There's no shortcuts to human nature.
And the model isn't broken per se, look no farther than the history of Moore's Law for proof, but it just goes towards the conundrum posed by industrial collaboration in R&D.
It is very much a cold war in the industry between the varying tiers of the supply chain.
