SF wasn't a Navy asset.
"These REMF decisions caused an enormous number of malfunctions and casualties and still color many people's opinions of the M16 " << This is the urban myth still perpetuated to this day that needs to be put down. The cleaning rod taped to the gun was to prevent a soldier from completly tearing down his gun in combat for what amounted to a stuck case. Just knock it out and reload - if it ever happens.
People blame the powder a lot, what also got misconstrued was Command claiming it was "maintenance free," which is the misstated version of "Needs less cleaning than the M14." The M16 does need less cleaning - you don't have to scrape rust off the iron parts, and keep the receiver, op rod, and all the furniture oiled. The alloy receiver got the mud knocked off and wiped down, the rubber or composite butt didn't rust, etc etc.
Another issue was the 4X ramp up in production the SecDef ordered - regardless that Colt wasn't ready. One outside source of barrels - Colt couldn't keep up - had tight chambers. That was a major source of problems that was hunted down in the field by contact teams gauging and replacing weapons literally within hearing of field combat.
Another problem was magazines - the 20 rounders worked ok, but push it to 30, and the excessive spring pressure coupled with transistioning to a straight mag well caused some mags to jam with all 30 rounds. By the '80s when I enlisted, it was still doctrine to download to 28.
Once the design got out of the oversight of Eugene Stoner into the hands of Colt, attempting to placate DOD, it no longer got a one stop decision maker who understood the entire concept. Committees of users began insisting on features and quantities that couldn't realistically be met in the time frames demanded. Because he would not listen to the subject matter experts, the SecDef created a situation that resulted in troops beta testing a gun that needed more refinement. It came at a price.
What is certainly arguable is how to quantify "enormous." Most of those claims have no basis in real terms or quantifiable numbers, just whatever a journalist or editor could get away with to slant a story. What is fact is that most weapons fielded are often modified to the A1 configuration, because the changes needed are important enough to differentiate. The better the system is, the longer it's in service, and that's why you see A4 models, or more.