Actually Musk did not find a way.
Musk has the talent, perhaps genius, to assemble the best minds existent to go to work for his companies and actually create his vision
The team of the best rocket men in the whole world solved the problem they conceived before they developed a solution.
The SpaceX rocket man team leaves all the other rocket men in the governments of Russia, China, India and NASA in their dust. They have no commercial equals either
He had the vision and assembled the team. That, to me, pretty much put him in charge.