No, it's a dilemma.
You can design the vehicle so that most or every stage is capable of being recovered and (after extensive refurbishment) re-used, but that has two costs: a) such a vehicle wouldn't be able to carry as much payload; b) refurbishment is expensive.
The alternative (which was the paradigm up to the Space Shuttle) is to re-use nothing, thus maximizing the amount of payload you can orbit per unit of fuel.
I'm betting that the answer is to be found in a variant of "a)": Constructing hybrid vehicles with a first stage consisting of a piloted horizontally-launched aircraft (eventually hypersonic) which can lob a more rocket-like second stage into orbit before returning to land on an airstrip.
This is the strategy currently being pursued by Orbital ATK.
Regards,
Can't see it! Apollo was the ultimate, not to be equalled in this epoch. I would say that I hope I'm wrong, but I can't even get that far.
"It has a stark beauty all its own." Let us be content with that.