- 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.
Is this basically a technical way of saying "people realized it could be done"? Like the 4 minute mile, once it was done once, many people accomplished the same feat soon after. The realization that it was possible changed people's perception.