Again, which version of RAD? Same issue back then as we have now about which version of Agile.
And the people who wrote the Manifesto did not forget, they added mother things to make it work better. Instead of just focusing on the process and techniques, they added concerns for how people could interact more effectively and what it meant to be an effective team.
These things were not a major focus for the specific RAD efforts. Those efforts were fundamentally about process cycles and deliverable definition. The early RAD ideas quickly turned into frameworks, methodologies, training programs, and even certifications (which exist to this day).
Once interesting ideas get adopted by majority organizations, it becomes easy to sell them on programs that lose sight of what the original ideas m(RAD or Agile) tried to promote. There became the “right ways” to do RAD as there have become the same for Agile.
Overall, people didn’t so much as forget, as saw the new market and even tried selling their old ideas as the new thing. plus ça change, plus c’est la même chose — Jean-Baptiste Alphonse Karr.