1) Companies are not restricted from conferring with the FDA.
2) I would wager that the problem isn't the companies having no clue what the FDA wants, but rather that most companies try to cut corners. So I don't think you need a dedicated FDA liaison, as I'm quite sure sponsors can easily design robust trials if they so choose*. It's more a question of sponsors (especially smaller companies) trying to get the most of the least amount of work / $$$.
3) For the sheer number of new drugs that are introduced into the US market, your working-with-instead-of-against comment is just a talking point. Good drugs get on the market, and those that experience delays are rarely due to a capricious FDA. Subjective case in point: it's easier to name drugs that we think offer little for the price (yet reached market) than to name good drugs that got stonewalled and killed by the FDA.
* Note that larger companies have little trouble designing large, comprehensive development programs such as AMGN's for denosumab.
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