But once the space race to the moon was won - and all major powers had proven they are capable of producing ICBMs - it feels like the energy and financing just went out of it. There's no more political or military gain to be had from space exploration so governments only put in a token amount, and there's only limited commercial gain from e.g. telecom, mapping and navigation, but that's all focused on earth itself.

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.