OK, here is the way the import bans work. This may not be perfect as there are several different executive orders and congressional laws that affect the import of firearms; but this is reasonably close.
The 1968 Gun Control Act gave BATF the authority to regulate import of firearms to the United States and also the authority to deny import for firearms that didn't meet the "suitable sporting purposes" clause of the 1968 GCA.
In 1989, ATF decided to revisit this clause and decided that certain semi-automatic firearms being imported did not meet the "sporting purposes" test. As a result, many guns were restricted from import and those that were allowed into the country had thumbhole stocks, no flash hiders, etc.
During the Clinton administration, several things happened that affected this ruling:
1) Unsoeld Amendment was passed in Congress and signed by Clinton. This is the law that specifies imported firearms must have a certain number of U.S. parts and restricts the import of parts for rifles.
2) ATF again revisited the "sporting purposes" test and decided any firearm capable of accepting a large-capacity military magazine was no longer suitable for import, even though the parts to build one could be imported
3) In 2000, the Clinton administration also banned import of parts for any of the rifles affected by the import ban; but in 2001, the Bush administration reversed the decision to allow import of parts for "repair and replacement" only (since they were also constrained by the Unsoeld Amendment which was a law and not subject to revision by EO)
So essentially, you have different waves of import bans and different guns that were affected. H&K was able to import the USC and SL-8 because they were incapable of accepting large-capacity military magazines. The AUG was banned under the 1989 import ban; but the redesigned USR was still OK until the Clinton administration expanded the import ban to include all rifles that could accept large-capacity military magazines.