Yes. He figured out that it was absolutely necessary for the future that he wanted to see, he started a company with his own finances and then had to be Chief Engineer at that company.

So, yes, he actually did figure out that it needed to be done and he lead the effort to do it.

I don't know why in every thread about Tesla/SpaceX people have to point out that other people work there. Nobody has ever denied it. Its just sensitive little flowers like yourself who deliberately it in a way so that you can make that comment.