NASA landed 18 humans on the moon using 1960's technology between 1969 and 1972, including at least one instance of playing golf on the surface of the moon. NASA "could" have done that (landing on platform) decades ago. NASA's only obstacle is political will and finance, being an arm of the government of the United States. NASA's early plans were far more awesome than anything SpaceX has dreamed up, involving massive space refueling stations and flying to mars riding a trail of shaped nuclear explosions for propulsion.
Unfortunately that obstacle has left them developing the SLS which IIRC is going to be hella expensive and late?