Dragon hasn't done an in-flight test with a firing booster, though. They're each ahead and behind the other in different ways. What SpaceX is doing is for the most part more challenging, but I don't mind some competitiveness if it gets everyone pushing for greatness.
This is a much simpler rocket than the Falcon 9. For one, it's suborbital. Its flights are so much simpler than the full orbital injections and hypersonic reentries the Falcon flies.
A quick list of things Blue Origin hasn't done yet:
It is Blue Origin who are catching up.