That's very true.
When a customer has a problem, you create a solution to it. Often the problem is part of a much larger space, so you tend to have discussions of all the possible features you could implement. This is a necessary step to gain knowledge about the problem space, but it can lead you to think that the solution have to cover it all
Time restraints leads to a "temporary" feature to solve the customer's immediate need. Most of the time it turns out that all the other features are neither necessary nor important enough to spend time on.
Projects without time restraints or focus tends to create a complex system that will "solve" the entire problem space. Most of the time it turns out that our assumptions are wrong and we need to do a major refactoring.
"Temporary" solutions may not have the best code structure or architecture, but it is not necessarily a bad technical debt, as many new developers to the project seems to think it is. Also, the time restraints of a temporary solution encourages the developer to create simple code and not "clever" code, because they can always blame time restraints for their lack of cleverness. If the code has been mostly unchanged for years, somewhat maintainable and solves the customer's problems, it's not really a problem.