The ironic thing is that Congress cancelled the Apollo program and approved the Space Shuttle program and that was even more expensive (in $/kg to LEO terms).
Payload costs are now <10% of the Saturn V/STS costs in real terms. That's what we need. If Satrship lives up to expectations, that'll drop even further. In addition to that there are important advancements in scalability (ie how many launch vehicles you can product and that really translates to how many launches you can do per year) and reliability.
My point is that whatever NASA wanted to do after Apollo was never going to happen and wasn't sustainable. Lots of people like to say things like we'd already have put a man on Mars if we didn't cancel Apollo but that was never going to happen.