am able to get the results I want from scanning the negatives directly
That doesn't say much. Even pretty hopeless negatives often scan perfectly fine.
Weak blacks in a color print are caused by one (or both) of two things: insufficient exposure or problems with development. Insufficient exposure you sort of ruled out, but it's still possible that your negatives do not have the required contrast, which makes you end up with not enough exposure in order to get the midtones and highlights where they need to be before the blacks kick in. Problems with development can arise due to problems controlling time and temperature, or problems with the chemistry itself. RA4 developer can be a bit finicky sometimes; in replenished systems used in a small-volume home setting, the pH may drift due to long storage times and over- or under-replenishment (it's kind of difficult to get and keep it spot on). Furthermore, oxidation can be a problem depending on your workflow, and if that happens to too large an extent, replenishment will not help sufficiently as you'll run into the pH problems mentioned before. In one-shot systems (which I personally find wasteful and giving more problems than they're worth), problems can occur if the ratio developer:starter is incorrect or stock solutions go bad during prolonged storage times.
In my experience, the most failsafe approach is properly replenished RA4 developer with frequent checking of the pH and adjusting it if necessary through the addition of either acetic acid (which may not be the best choice, but it seems to work quite OK and is easily available) or sodium hydroxide.
Provided the negative is correctly exposed and developed and the RA4 developer is in good order, getting in the ballpark of a good print isn't much work and quite straightforward. If you find yourself struggling with this for too long, I'd suggest backtracking the process of making the negative and the RA4 chemistry.