Do think the answers to your questions might be different and/or more clear 20 years from now? 50?
Probably not. It's not a matter of time, it's a matter of technology. There hasn't been an advance in rocket technology since World War II.
The trigger behind the great leap in aerospace in 1903 was the internal combustion engine. Before that, no other engine had the power to weight ratio to make an airplane feasible. No matter what kind of aircraft you designed, it would not fly without the right engine. By applying that engine to an already existing glider air frame the airplane was born. Every plane there after was a perfection of that design. A faster, stronger, greater endurance version of the original.
There isn't any significant technological difference between a Saturn V and a V2 Rocket. They use the same technology, one is significantly larger than the other.
There are technologies being pursued that could reduce that lift cost from tens of dollars to pennies per KG but none of them are being pursued seriously. Launch loop, Star Tram, Mass Driver and other maglev technologies show promise but are cargo only systems because of the massive G forces a passenger would have to endure at launch.
The Space Elevator is the most promising known alternative to rockets and would literally open up commercial and private space travel to the everyman. However, this technology would require a massive engineering project that, in the current global political climate, is not being considered.
Anti-gravity technology is a possibility, finding a way of cancelling out the space time warp that all matter generates and using it as propulsion to orbit. But, we currently don't understand the mechanism behind what causes mass to warp space time so finding out how to counteract it seems a long way away.
Once a technology is perfected that can lower launch cost from their current 'astronomical' levels, the push into space won't be measured in centuries, but in decades. Until it is, we are Leonardo DiVinci, playing with models and dreaming of flying into space. It may very well be hundreds of years before that dream is realised.