IIRC, they were having serious delays and cost overruns on the propulsion system. That remaining 15% was 90% of the problem....
I don't know what the best Shuttle replacement would be. The answer to that question lies in what you really need to do. Is there really a need for a reusable spacecraft? If so, is there a crying need for one with a 50,000 lb payload capacity? How much of the Shuttle mission can be transitioned to the ISS? How much of it can be handled by big dumb boosters and one-shot manned capsules?
I think it's possible to build just about anything we need to build. The hard question is what you need, and whether you really need it.