FIRST HQ is not a monolith, and I think it’s an oversimplification to say that the key issue is a lack of understanding or transparency from top to bottom.
Everyone I’ve ever met in Frank’s organization absolutely loves the program and takes the experience of the teams to heart. The folks directly responsible for the team experience with the control system, kit of parts, and game are virtually all current or former FRC participants, key volunteers, or mentors with their finger on the pulse of the community. Moreover, there exist channels of frequent communication between HQ and Hall of Fame teams, WFA winners, LRIs, Head Referees, and groups like the Rules Review Committee to ensure that - to the extent that they can - the FRC side of the house makes the best decisions possible for the teams. (But yes, I think they can and should use these channels - and create new ones especially for technical issues - even more)
What I think you perceive as a lack of understanding and transparency from this group is more a result of limited resources and having bigger fish that need to be fried first. For example, I think that 254 has a larger engineering mentor staff than FIRST HQ has for all FRC-related activities…and that’s to design, source, and build two robots versus a whole game, who-knows-how-many fields, thousands of kits of parts, etc. Being transparent is great, but it also bears a sizable cost to an organization that is already overworked.
The other part of this is that if you reread my first paragraph, I chose my words very carefully. FIRST is not just FRC. There are other programs, some of which are not flourishing as much as they want to be, and who are looking to ride FRC’s coattails. Then there are the founders, the President, and a group of more senior FIRST HQ staff who are responsible for the long term strategic planning and growth of the program. The latter group is where a lot of the feeling of “lack of understanding and transparency” comes from, in my opinion. This is where 2 Champs came from. This is where long-winded Einstein speeches and corporate partnerships come from. This group is also not without influence over aspects of the game design process. I’d blame this group for the new website, too, except I have no idea how that one happened 
It’s important for any organization to have a balance between near- and long-term thinking, whereas those of us who live and breathe the program are really, really heavily biased towards the present (or past). That part is fine. But I also think the “strategic” arm of FIRST is where I really see the biggest lack of transparency and a fundamental disconnection from the team experience. The message I keep picking up from this group is that the current participants and volunteers are totally taken for granted, and will stick around no matter what the program does. The only focus is on expansion. If I’m wrong, I really wish someone would say so…