I think it is more than a lack of will.
Jules Verne, it turns out, was right. It would be best to launch into space from a gun. That would splatter any astronauts, so we get as close to that as we can, with something like 12 G’s and a comfortable couch.
A return from Mars would be way worse than a return from Earth’s moon. The return from the Moon left a spaceship looking like burnt pizza.
I don’t think a return from Mars can be done.