Eh, developed by/for the Air Force, e.g. the mid-50s Jupiter used RP-1/LOX. For that matter, Mercury and Gemini used Army and Air Force rockets for boosters, it wasn't until Apollo that they used purpose built civilian rockets. The gas-generator design of the rocket engines goes back at least to the mid-50s in the USSR, not sure when it was first used in the US, but various Saturn rockets developed for Apollo used that design.
They're using cutting edge stuff here and there, e.g. friction stir welding, which is a good match for the long seams in boosters, but mostly its organizational, and clean slate, not starting with a military rocket which is developed for and under different constraints. Or explicitly (Apollo) or implicitly (Space Shuttle and beyond) as a public works project, where cost is secondary to employing a lot of people.