Ask Elon about the regulation hurdles in SpaceX - and ask him how they ended up pushing him in doing things the right way. Harder? yes. More costly? absolutely.
I've been a structural engineer for 20+ years and my old boss who is now deceased used to like to say, when he was discussing project proposals/timelines, "You can have designs done fast, or you can have them done cheap or have it done right, but you can only pick 2 of the 3." Fast and cheap are relative terms, but the point was that if you want something designed fast and right, you need to dedicate more money to it because you have to dedicate more resources to it. Even more important when you dealing with the type of pressure and forces that the sub needed to deal with.
Oceangate went the fast and cheap route in their design and operations, this outcome was to be expected.