Having once worked as a design engineer on heavy duty trucks, I will add some insight:
1. JDraper has a good point - The engineer who designed the transmission won't be the same guy who designed the exhaust system. In fact, they may not even work in the same building or even for the same company. For example, the transmission is designed by a division of Ford, but the transfer case it bolts to is designed by Borg-Warner.
2. An engineer has many design constraints when designing a part or system. Cost constraints, manufacturing (assembly) constraints, time constraint, etc, etc, etc. Sometimes serviceability is one of the constraints (it was where I worked) but sometimes it is near the bottom of the list. Every design ends up as a compromise to meet the constraints as best as possible. I know that most engineers want to design the best parts and systems possible, but the accountants and managers set cost goals that make the perfect design unrealistic.
3. Even if the engineer recognizes a problem (like you cant replace the modulator without removing the skin from your arm in the process) he may not be able to correct the problem. Engineering time is expensive, so he may be directed to work on other problems which will bring in revenue, rather than correct problems which have already been sold. Its not right, but it often is the way it is.
4. Like any other profession, there are good design engineers and bad design engineers. I just hope that the bad ones are the ones doing the upholstery, and not the ones designing the brake system