Your fixation on competitive prizes is pretty naive
NASA as a government bureaucracy has no incentive to offer competitive prizes. Doing so would undermine the prime directive of bureaucracy - to expand.
Boeing and Lockheed-Martin have no incentive to favor prizes, either. Why should they? If they can get the government or another corporation to pay the current prices for a space launch, why would they want to do something to encourage other companies to come into the market and undercut their prices? It'd be like a mom & pop grocery store lobbying for a Super Wal Mart to open next door. It isn't going to happen.
It's naive to believe that a bureaucracy or corporation should do something against their own interests just because you want them to.