You keep saying "for now" as if it is some capitulation that makes the rest of what you're saying palatable, or something.
I think you're just more interested in space tech than space exploration. That's perfectly fine, just say THAT, if that's what you mean.
We can focus on more than one thing. The budget limitations I was speaking of overcoming won't get us anywhere useful except working on multiple research and experimentation topics simultaneously. It won't get better equipment into space, it will get us learning from our mistakes a LOT more quickly.
Dave is right about what we can do in a decade. The original Gemini missions were purely a proving ground for the unknown quantities that are now known quantities. Can people survive in 0G, what toll if any does microgravity have on the human body, can we dock vehicles reliably, can we get there and back reliably, can we do all the necessary stuff in order to "land a man on the moon, and return him safely to the earth" reliably?
That stuff is all proven and shaves years off of what we'd need to do to regain a presence on other planets and/or moons.
Yes, rocket tech is definitely part of it, and research proceeds in that area today. How many more things could be tried and proven (or disproven) if budget was not an issue? How much faster could research projects and trials be completed and advanced to next stages if there were 10x as many people on 10x as many projects? OF COURSE more budget will help speed things up, and I think we would discover things we weren't expecting to discover if we branched out a bit and worked on research topics that weren't rigged to win from the start.
Right now, because of budgeting, only the MOST promising technologies see any real attention. We can learn things from the less promising endeavors, too, and that is what really saddens me about current research. I am not saying that we should throw a bunch of science to the wall and see what sticks, but I think we could be a little looser with what we pay serious attention to in the hope of stumbling across some advancement or discovery that would not have been found had we stuck only to the conventional stuff.
It is a travesty how little the US spends on space in comparison to how much we spend on war. We talk the talk of returning to manufacturing, engineering, innovation, yet we throw so much money away on war. Take half of what we spend on war, give it to NASA. Take the other half and pay for college for everyone that wants to study science or engineering. Give any leftovers back to the general fund. Then just sit back and watch lots and lots of things (economy, business growth, GDP, education, sudden surge of tech innovation, etc.) improve. EVERYTHING will improve in the long term. Every. Thing.