If I remember right, diaspora was kind of poised to be the fediverse facebook a very long time ago, one of it’s major features was aspects, which indeed was set where you added people to categories, and could make posts only visible to certain categories (basically if you remember google plus, that’s what they were copying). Though from what I’ve seen it took a huge PR hit very early on, but still is kind of alive last I checked.
I’m roughly trying to skim to understand… of course both sides are over my head in development. But it sounds like the first thing they had was just lack of confidence they could do… well exactly what OP wants (IE specifically keeping posts private and only shared with who he wants). That combined with technical difficulty with limited development resources to rewrite the protocol itself.