I don't regard 'common sense' as instinct (i.e. something you are born with) - it's learned knowledge that most people should be expected to have. We've long taught at least basic science in schools, and the concepts of action and reaction (equal and opposite forces), momentum (conservation of energy), applying force to objects to change their velocity (acceleration), resonances etc. are all things we come across in everyday normal life. A lot of people might not know or remember the scientific terms and explanations for those, but they are familiar with the reality of them.
To me, thinking about forces and energy is 'common sense' because I've grown up with an interest in science and engineering - so canting the rails inwards to match the basic taper of the wheels means that the downward force (weight) of the train transmitted to the rails on the flatest part of the railhead, which is also directly above the web, so it's the strongest path, and minimises the sideways component of the force on the railhead. So in theory you end up with the largest wheel-rail contact patch at the strongest part of the rail.
Sure, there is a lot of detailed research, knowledge and experience needed to go from a 'first principles' system design to a fully working, reliable and economic design - that's what engineering design is all about (I work in it, as an electronics designer), but the basic concepts are usually not hard to understand or analyse. Getting good, stable, ride of self-centering wheelsets at varying speeds I fully understand is very difficult in reality - it's a naturally resonant system which are always difficult things to analyse and control. Dealing with/avoiding unwanted resonances/oscillations is a perennial problem in my field of engineering too...