Yep, it is the most likely the compromise to retrofit this into macOS, without breaking everything in UNIX and NeXTSTEP land that has been ported into macOS.
On Windows land you have something similar, there is the WinRT sandbox, Win32 app sandbox, secure kernel, driver guard, and a miriad of other stuff, but there are also the cracks of backwards compatibility, specially if you want a single executable able to run across all those configurations.
Mobile OSes have it easier, because of no backwards compatibility and the restrictions that are able to impose as execution model.
> On Windows land you have something similar
I'm still waiting to hear about a kernel-level exploit that starts with Visicalc or similar.
XNU, or more specifically the Mach part of it, also had some very questionable design choices that likely compounds the issue as it forces people to work around it in increasingly awkward ways. As Mach was conceived and mostly designed by an academic with no real world industry experience in shipping kernels.
No, it has nothing in to do with NeXTSTEP. XPC was designed recently and for macOS/iOS. This is just that it was not designed with security in mind along this axis.