Yup, it was interesting reading some of the discussions about the design of the device. PCB cost was a major consideration. They aren't exposing some of the I/O pins on the SoC because it would require a more expensive PCB to do so.
Custom small-time boards get expensive quickly when you shoot for tighter tolerances, which are necessary for truly tight spacing. If Raspberry Pi expects to sell 10 million units, then even a fancy board will cost nothing, but I doubt they are planning on such numbers...
Amortising the tooling / artwork costs into big volumes helps, but even then the PCB is usually one of the more expensive items on the parts list.