This is what happens when private money gets into the game. That won't happen until the technology matures a little and we start seeing some interesting core samples indicating the presence of who-knows-what. You are right, the explosion into space won't happen until that day. The best we can do in the meantime is keep pushing the technology forward, and start gathering those samples.
Robots can do the science, and 1% of the cost.
I don't think we're necessarily at odds here. I would like to see a series of robot probes checking out likely looking moons and asteroids. We need to be able to do some seismic surveying. If that can be done robotically, fine, if we need men with "boots on the ground(?)" then they will need to be there. As the samples get more interesting, and the technology advances, at some point the two curves cross and suddenly you have Exxon launching their own probes. Or whatever.