The reason for that is not what you seem to imply. It is a question of know how. You pay for what you don't know. The security issue is something else. If you are stupid enough to change setup in the car the company is not liable for it since it can be easily proven that you are the guilty one. Most well designed cars will not allow you to do any change without proper security. You need the right codes and passwords. We have to keep coming up with cleaver ways to keep morons from screwing things up.
The reason for the high price of devices like those of Intrepid, Actia, Dearborn or Vector are that those device allow you to similate engines, ABS or transmission messages easily. If you can't do certain things common sense is that you need to pay someone who knows. Knowledge is money. If that was a larger market the prices would be much lower.
I use some of those expensive devices to test our cluster software or other devices that hooks up to the CAN (J1939, GMLAN or Ford) as well as J1850 or J1587. The price varies between $800 and $4000. When you pay $4000, about half of it is for the software.
If all you want to do is monitor things and perhaps add your own gauges or gadgets you should not attempt to go into diagnostic too often and have no need for such expensive devices. A $200 or $100 device would be sufficient, you could even create your own for cheap. Look at some STM32 with CAN or the AT32UC3C, they are quite cheap, the Atmel processor has 2 CAN.
J1850 is a pain but with most CAN protocol you can monitor faults and most information thru CAN if you know the messages. Ford, GM and Chrysler information is easily available if you know someone, it is not hidden but they don't like that data to go to Joe Blow, you have to have a legitimate reason to want the data. If you are building a device like the ones on the market you will have no problem getting them as long as you pay for them. We had to pay close to $100 for GM and it took a while while we got it free from Ford thru one of our customers. You can get the SAE specs for J1939 and J1850, it must be well over $1000 a year for a subscription.
Don't bother asking people who have those data since we are not allowed to pass those on. You want this you must pay for it.
For those who cannot afford the price of the documentation or hardware for these you have to rely on information that is published on the net and hope that it is correct or monitor the CAN for yourself and do some reverse engineering. GM, Ford and Chrysler have their own protocol in standard CAN at 500k. You must make sure that you do not create bus off conditions and that if you do, you recover quickly. Do not attempt to hook up anything on a moving vehicle unless you know for sure that the hardware is designed correctly. J1850 is still available on some vehicle but both Ford and GM have phased them out. J1850 is very tricky as it is very easy to crash the engine or transmission if you broadcast physical message when someone is broadcasting physical messages. With J1850 you must request all messages. This is not true for GMLAN or Ford which have messages that are sent on a regular basis. The GM transmission has a bug that if you try to communicate with a message that is not supported the transmission communication will crash. Do not mess with J1850 on GM engines unless you know exactly what you are doing.
For non Ford or GM trucks or RV there is J1939 (CAN 250k) and J1587 (RS485 9600 baud). J1587 is still available on all recent Allison Transmission and Wabco or Bendix ABS. It is available on most engines even though it is meant to be obsoleted. It will be around for many years because the military still use it for diagnostic. Normally when J1939 is available we use that. Allison has now J2012 for diagnostic on J1939, this is rather new, it has codes similar to OBD. Cummins and CAT are likely to follow the trend with their engine in a few years, I think that Cummins will have them in 2013 or 2014. All data is in metric on J1939 and english in J1587.