https://en.m.wikipedia.org/wiki/Roush_Fenway_Racing
Who knows a racing team ever build engine for rockets huh?
Nowadays a lot of innovation of rocket engine was put to rocket engine. If you could build it much better, why not?
Here a video from recent MUOS - 5 launch. Well, someone ask very good question there. According to them, to balance the 5 SRB used on Atlas V, they angled the engine yaw 1,5 degree. Explanation at 44:40