Is it a contradiction that Adam and Eve's kids commited incest to procreate, yet God can make humans?

Incest is forbidden now, in Islam, Judaism and Christianity. Yet Adam and Eve and their children, how did they procreate? Jesus was made without a father and Adam without both parents at all. If incest is so abhorrent, why weren't humans made for the Adam and Eve's kids. Even Abraham married his half-sister. 1. God can create humans from nothing/no parents. 2. Incest is now bad, but was allowed before during Adam/Abraham's time. Was it an emergency before? Not enough humans? Extreme circumstances? Why didn't God make more Humans?