Firstly, there's no reason the trip can't be one-way, or at least, temporarily one-way.
Secondly, there's not a huge need to develop a new rocket. We've delivered lots of one-way cargo to Mars using the Atlas V; something like the SLS could deliver much more, plenty for a couple humans to get there and not die. We've already launched SLS uncrewed around the moon, there's no reason to think it would take decades of dedication to launch one again 1-way to Mars.