- Advances in rocket engine design & tech to enable deep throttling
- Control algorithms for propulsive landing maturing (Google "Lars Blackmore", "GFOLD", "Mars Landing", and work through the references)
- Forward thinking and risk-taking by SpaceX to further develop tech demonstrated by earlier efforts (DC-X, Mars Landing, etc.)
Modern simulation and sensor capabilities helped, but were not the major enabling factors.
SpaceX Merlin 1D: ~40% Rocketdyne F-1 (Saturn V): ~70% Space Shuttle Main Engine (RS-25): ~67% Blue Origin BE-4: ~20–25%
Falcon 9 does the "hover slam" where they have to turn off the engine exactly at touch down, or the rocket starts to go back up again. Throttle is too high for the weight of the booster at that point in flight.