Are you familiar with Mars Direct? I don’t think any current plans to go to Mars envision bringing all their return fuel with them to Mars orbit (much less to the surface).
But the big bucks are still going into the Senate Launch System.
[1] https://www.nasa.gov/tdm/space-nuclear-propulsion/
[2] https://www.youtube.com/watch?v=nNnsnyIvzps
[3] https://www.bwxt.com/what-we-do/advanced-technologies/space-...
Edit: for my last comment (which I can’t edit now) I meant to say that hydrogen has a high energy content by mass but not by volume. So 1kg of the stuff has a huge amount of energy but also takes up a lot of physical space.