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Ducati's biggest mistake was not making changes to the bike while they had a rider who was in his Prime..Casey Stoner.
Stoner also was his own worst enemy because of his ability to win on the Desmo and ride around the problems.Audi made changes in the engineering /management of the race team for one reason,to speed up upgrades and listen to Rider input instead a having a Engineer who thinks he knows what the bike needs more then the person riding it.
The bad part is Yamaha and Honda are very fast so to close the gap will not be easy..But with Suzuki returning they will not be alone in this task.