NASA is a government agency, the US government made SpaceX happen by pushing polices to privatize various aspects of the space agency. I'm not denying the Musk is a good business guy, but his imaginings have nothing to do with the actual work that happens at the companies that he owns. Mars is a neat sales pitch, but SpaceX makes money from mass producing NASA rockets and selling launch services to starlink (and the military version of starlink). The "vision" there is landing a juicy government contract and agreeing to mass produce a proven rocket design.