The writers on the original only identified him as MacGyver and came up with the "he didn't like it" so they didn't have to come up with a name immediately. He was going to be called Mac or MacGyver in the episodes so there was no need to figure out a first name. (Felt it was a little strange that even Harry didn't call him by his first name but, this is television...)
This MacGyver has technically only used his full name of Angus MacGyver in narration to us. Within the actual episode he was introduced as MacGyver and called either Mac or MacGyver. I'm pretty sure the team knows his first name (not so sure about bozer!) but they don't use it and within the episode neither did he.
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