Many may not know this but NASA original envisioned the space shuttle as a fully reusable, two-stage vehicle that would be piloted in both stages. A hypersonic winged first stage would carry the shuttle orbiter on its back up in to the stratosphere, where at around 50,000 feet the two stages would separate. The first stage would then fly back to Earth and land like an airplane, while the shuttle orbiter would use it own rocket engines to take it up in to orbit.
Government budget issues forced the Nixon administration to put the brakes on such a system, so NASA had to design a shuttle system with an orbiter that was carried aloft by two reusable solid rocket boosters. Similarly, funding issues would also kill the development of a second-generation space plane, leaving NASA to operate the shuttle for 30 years.
Now NASA can work on things like the Artemis program, while private contractors provide a lower cost means of placing things in to orbit, but it seems SpaceX might be looking to also send payloads much further in to space.