I should also note that Apollo 7 launched from LC-34 on CCSFS on October 11, 1968, that being the last manned flight from CCSFS, rather than Gemini 10. Still almost 54 years.
The Atlas rocket family is at the end of its existence. Not worth it to retrograde rockets that are only going to be used on 17 more flights.
As for the Vulcan-Centaur. Yes, they should have done more toward making the Vulcan reusable. My understanding, however, is that the new Centaurs will be repurposed after they convey their initial payload to orbit as space tugs and such. Thus, having a life after their initial use.
To that small extent, they would be ahead of SpaceX, which does not reuse their second stages.
Overall, of course, SpaceX remains far ahead and will only move farther ahead once Starship becomes fully operational within the next couple of years.