From the article.
"Another indication of how CD Projekt stretched things too far was that it tried to develop the engine technology behind Cyberpunk 2077, most of which was brand new, simultaneously with the game, which slowed down production. One member of the team compared the process to trying to drive a train while the tracks are being laid in front of you at the same time. It might have gone more smoothly if the track-layers had a few months head start."
"the company was then still mainly focused on its last title and full development didn’t start until late 2016, employees said. That was when CD Projekt essentially hit the reset button, according to people familiar with the project.
Studio head Adam Badowski took over as director, demanding overhauls to Cyberpunk’s gameplay and story. For the next year, everything was changing, including fundamental elements like the game-play perspective. Top staff who had worked on The Witcher 3 had strong opinions on how Cyberpunk should be made, which clashed with Badowski and lead to the eventual departure of several top developers."
Most studios don't "hit the reset button" and start changing everything that was planned leading up to actual development and end up with a good product.