But I think you are right about what they colonies will look like. Subterranean for the most part with some farming glass domes on the surface.
With the latter arrangement you have lots of minable resources at hand, only a small delta-v away from you. Ik you are ok with long delivery times, transporting them around doesn't cost you much energy.
Whereas on Mars, everything is much more energy-intensive, both mining raw materials and moving them through your industrial processing chain.
Space-based manufacturing is still an alien concept to us and while it comes with its own challenges, the vacuum and zero-gravity of space offers a lot of advantages too:
Ok, I just read that link. they need to make a space forge that'll fit on a falcon 9.