In fact, the empirical evidence is opposite your claims. Rockets with hydrogen upper stages are known for being expensive (Atlas, Delta, H-II, Ariane). The low cost rockets (Falcon, Soyuz, Proton) do not use hydrogen in the upper stages.
Not sure why you think having multiple engine designs is a good thing. Sure it may wring out the last percentage of "efficiency", but the #1 goal should be cost, which is the efficiency of the entire system. And multiple engine designs, while maybe individually more efficient, are a drag on overall costs compared to a single engine type system like Falcon Heavy.
2 main things:1. ULA manufactures very little in-house. They have many contractors (Aerojet, RUAG, Energia, OrbATK, etc) producing major components, and all of those contractors themselves have other subcontractors. Each level of contracting increases costs because they all add their own profit margins, and eventually what should have been a 5 million dollar engine grows to 10 or 15 million after 3 or 4 layers. Theres also the costs of integrating everything, ULA and all the contractors need to spend money communicating to coordinate any design changes or purchase orders. And each piece has to be separately transported from wherever it was built.2. Lots of configurations. Atlas V can have 0-5 SRBs, 1 or 2 RL-10s, a 4 or 5 meter diameter fairing (both of which come in several lengths), plus all sorts of minor customizations. This means they have to keep more production lines open (even if a given part will only occasionally fly), its harder to swap rockets between payloads (less schedule flexibility), and any design changes take much more work because they have to be checked against [some huge number] of variants. Delta IV is even worse for this.SpaceX is the obvious comparison here. They make nearly everything themselves (and what they don't make internally is mostly off the shelf parts), they have only a small number of facilities to transport parts between and coordinate with, and they have only 1 (soon 2, with FH, and even that is >90% common production) rocket configuration in service