There's no major financial incentive go to the moon or mars, other than would-be space tourists or colonists that are willing and able to pay for their own trip.
The only way spacefaring could be commercialised is with asteroid mining, and that's a long way away still. The eye-popping "this asteroid could be worth a hundred trillian dollars!!1" kind of headlines are sensationalised to attract investors to fund exploration missions to figure out if the theory matches the practice, but even if it was worth that amount, getting any material back to Earth is currently cost- and engineering-prohibitive. It may become viable in our lifetime, for example if they can get a Starship sized craft there, fill the hold with titanium and return all of it to Earth, but that's a long way away still.
I don't think there's any incentive at all. What reason is there for anyone to go to Mars other than to say they did, at enormous expense and technical effort? Best case scenario, after spending tens of trillions of dollars, we're able to build a base that needs continual resupply from Earth and in which you're basically living in a box - you'll never be able to set foot outside except in a suit, worse even than our Antarctic bases. And even then, we can expect long-term health effects. Well, you can live in a box on Earth.
The reason there isn't major funding for space is because most people don't care all that much. It's a nice thing to have, and I wish more people did support increasing this sort of funding, but it's perfectly understandable why most people don't want to contribute significant percentages of GDP to a scifi dream.
The technology invented and/or adapted to facilitate these enormous space projects is very often applicable in other fields or daily life.
Some examples from the past include metallic glass (now used in power plants), translucent polycrystalline alumina (now used in invisible braces), water purification technologies, the coatings used on launch pads was adapted for use in coating steel for high-rise building projects, etc. The list is quite long.
There are hundreds of spin-off technologies, many of which are used daily, which originated from various ambitious space projects.
Quite a few things have been done since then, including the JWST, all the other space telescopes, helicopters on Mars, visits to every planet in our solar system system, ...