In the past few years we've seen SpaceX get reusable boosters working, a mission to the ISS, etc. Though people like to diminish blue origin's accomplishments due to not hitting orbit they were able to land their reusable booster on the first try too.
In a short amount of time we've seen tremendous progress in bringing down the costs of launching. It's frankly inconceivable NASA would do the same.
I have a few friends that have spent years at JPL and the amount of bureaucracy, waste, and red tape they had to deal with all went away when they started working at SpaceX and then Blue Origin.