Hell, aside from SpaceX and a few similar efforts, we're still pouring most of our launch funding into the Space Shuttle Program, via it's SLS successor - currently over $11 billion spent on a program that has had, to date, one launch.
We’ve had humans in orbit on the ISS continuously for decades, sent probes to the edge of the solar system, landed multiple robots on Mars, and revolutionized our understanding of space and physics with space telescopes.
The biggest obstacle to space exploration was a contracting that didn’t bring down costs, and the thing that makes space so exciting now is high cadence low cost launches
The SpaceX flights are way more efficient and reproducible than the Apollo missions ever were. The only reason they aren't regularly going to the moon is that there isn't a strong incentive to do so.
Pretty sure we can land things on the moon if we needed to. We just placed the James Webb Telescope there. We just don't have the political will or necessity. Ho long was it between the first trip to the South Pole and the first permanent base? 1911 to 1944. And that was on Earth, where supplying that base is much easier than the humongous expenditure it was to go to the Moon or supply a lunar base there.
Another thing: we are trying to do things a lot better than we did 60 years ago - fully reusable craft that, I assume, practically flies itself.
You need a reason and money to fund it. Which Musk supplied.