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I think some of the work on top of L1 Bitcoin that you mention, like Craig Raw's work, is great and perfect for championing by private companies.
But I have a feeling that private companies are reluctant to be seen to be attempting to "change" bitcoin.
Perhaps. Or Bitcoin Core work is just something that "someone else" does, both in the tragedy of the commons sense, but also in the specialization sense.
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The perception I get from popular discourse (and which is a view I don't hold myself) is that Bitcoin protocol development is supposed to be free from self-interested motivations.
I don't know if very many private companies feel this so strongly that they refrain from trying to work on really central stuff in bitcoin or if there is some other reason.
Some of the label BIP work done by Craig Raw or the two recent wallet metadata BIPs by pythcoiner might be good examples of private orgs pushing forward work that benefits themselves and the protocol as a whole.
But I have a feeling that private companies are reluctant to be seen to be attempting to "change" bitcoin.
I'd like to see more companies advocating for the changes they need/want to see (for instance, in the case of covenants). Not because Bitcoin will end up adopting these changes, but because I think it helps to be able to identify motives clearly.
When it comes to FOSS developers, I have a hard time evaluating why they advocate for or against any given change.