I didn't know that the ETF vehicle would be refurbished for manned operations after its flight. You mentioned that the vehicle has a design life of 10 missions. What is the extent of the refurbishments that will need to be done between flights?
Service module, heat shield, airbags, parachutes, forward bay cover are all fully expended, obviously. Backshell TPS is apparently Shuttle/X-37 derived, so probably reusable with minimal maintenance. Some tiles and windows may need replacement. ACS thrusters likely require little maintenance as well (the ones on the Shuttle didn't, and these ones have a simpler operating environment). Coolant, pressurant, atmospheric gas, and water tanks and plumbing will likely be purged and cleaned, plus air filters and the vehicle interior. Then test everything like you would for a new vehicle.
Because thats a reasonable comparison... 
You're right, Orion started development half a decade earlier and got a blank check.