With 44 years experience in powertrain for one of the big three, I can say that when you are able to do emission control with aftertreatment (like catalyst and DPF) it lets you run combustion process for best efficiency and not lowest emissions.
If you go back to when catalytic converters were added to autos in 1975, everyone complained about having to use unleaded fuel. There was a real improvement in both driveability and fuel economy with converters because you could run the combustion cycle better and let the converter clean up the HC and CO. When we went to 3 way conveters and digital fuel injection so you could run at stoichiometric air fuel and clean HC, CO, and NOx, even more improvement because you could back off on EGR.
The uncontrolled engines are certainly "simpler" but they are also much dirtier. These systems for diesels have been in Europe for a longer time and although it adds significant cost, it also provides much cleaner and more efficient engines at the level of emissions required today.