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PSUs are primary R&D agencies since they have huge funds from government. Private companies have profits as their end goal. So, they should only be meant for production.PSU are lazy no 1 and wanted their nose in every projects, in order to get the name, and they force the Indian Armed forces to accept whatever shit they produce, you should read some served officials posts here in this own forum,
Obviously, certain companies like VEM & Kalyani have gained some expertise in certain component but that is too brief. They can't invest in developing more than the specific product which earns them profit.
So either they would need government funds for R&D or technology from PSU as usual.
I'm also wondering if you actually believe that these companies had all the critical components on their own and didn't import/recieve assistance from foreign entities.