RNGs were understood to be the lynchpin of secure systems for decades, including long before 2007; and it was also widely assumed both now and then that they were one of the most common vectors for attack by the NSA.
Why RSA added Dual_EC_DRBG is easy to explain in dollars & cents: 1) RSA was literally paid to add it, and 2) most of RSA's revenue comes, directly or indirectly, through government contracts (e.g. FIPS compliance, etc).
As for why RSA insiders didn't speak up: there are mountains of scholarship explaining why people just keep their heads down. Even if you were absolutely convinced beyond a shadow of a doubt that Dual_EC_DRBG was a backdoor, intelligent people are very good at rationalizing things. Anybody who has worked at a large company, including RSA, understands that your day-to-day work and the company's business is as a practical matter <10% technical and >90% everything else (sales, profit seeking, integration, etc, etc). More importantly, if you're a company doing business in a space dominated by U.S. government requirements and processes, or even just patriotic, the NSA having a backdoor is hardly the worse thing in the world. There are amazing cryptographers in China. Even the ones who fancy themselves world citizens and above the fray of nationalism, how many do you think would stick their head out were they in a position to identify possible formal government attempts to manipulate technology?
Moreover, a backdoor doesn't necessarily mean insecure; it's not a categorical truth that any backdoor means broken security, that's just a rule of engineering thumb built on the experience that securely maintaining the keys to backdoors is supremely difficult, often more difficult than any other aspect. Nobody has yet come close to breaking Dual_EC_DRBG, AFAIU. From a purely technical perspective, Dual_EC_DRBG is still secure. The keys haven't leaked, and the algorithm remains as impenetrable as ever. At the end of the day, that's all the rationalization most people would ever need to keep their head down. The "security" of Dual_EC_DRBG is a socio-political debate, not a technical one.