You are factually wrong on several counts.
SpaceX is not working on any version of the CST-100, and their only relation is that the CST-100 is supposedly designed to be compatible with the Falcon 9 launcher (I have reasonable doubt that will happen). They delivered the Dragon cargo capsule, and are working on the manned Dragon V2.
Boeing's CST-100 is orbital, not suborbital. Suborbital means it will not complete a single orbit, like a missile.
Sierra's Dream Chaser is also not suborbital. It also uses many non-NASA technologies, such as the hybrid rocket engines.
You further have many logical errors, the most persistent being the conflation of the launch vehicle with the crew vehicle. SLS, Falcon 9 and Atlas V are launch vehicles. Orion, Dragon, CST-100 and Dream Chaser are crew vehicles.
Orion is NASA's crew vehicle (actually, Lockheed Martin's, but I'll get to that in a bit). It is not suitable for missions beyond the Moon - it has a designed mission length of only three weeks (21 days), which is unsuitable for anything beyond Earth orbit. You are correct that manned deep-space missions will need a super-heavy launch vehicle such as SLS, but Orion itself will not be the crew vehicle.
You also make a mistake in your history. NASA did not produce the Apollo landers or the Saturn V (what I assume you refer to as "what nasa did 30 years ago" or "other NASA firsts"). They set the requirements, and solicited bids from private companies. Just as they're doing now - Orion is being made by Lockheed Martin, the SLS boosters are being made by ATK, Rocketdyne is making the core engines, Boeing is making the upper stage. Really, all NASA is doing is assembling the entire thing, and of course setting the specs and requirements.
Let's look at the Apollo command module, the closest equivalent to Orion/CST-100/Dragon. It was developed by North American Aviation. They merged with Rockwell-Standard during the 1967 to form North American Rockwell, later renamed to Rockwell International, under which name they produced the Space Shuttle orbiter. The Rockwell International space division was sold in 1996 to... Boeing.
Boeing isn't "ripping off from NASA firsts". They're building off work that they did for NASA in the 60s, 70s, 80s and 90s. If anything "NASA" is ripping of them, but I remind you that Lockheed Martin is the one actually building the thing you want to attribute to NASA.
Sierra Nevada is building off SpaceShipOne technology, not any NASA programs. Just because it looks vaguely like the Space Shuttle, that does not mean it actually works the same way. The engines are completely and fundamentally different, as is the aerodynamic design.
And SpaceX is developing everything on their own. The only thing they used from another company is some software/control design from Tesla Motors, a company not coincidentally also owned by Elon Musk. I personally doubt much was even borrowed there except for the basic idea of a single big touchscreen, but I guess it makes for good brand advertising.
tl;dr you're wrong in your terminology, you're wrong in your facts, you're wrong in your logic, and you're wrong in your conclusions.