I think so. Part of why I favor those cheap and simple designs is that, basicaly, we figured out how to get to LEO reliably a long time ago using that approach, and with 20/20 hindsight we've wasted a lot of time trying to elaborate on it. Winged and reusable craft are great in principle, but not worth stopping all forward progress until we have them. A lot of development projects could have been done in parallel rather than serially, so that progress can continue on the main path of exploration while basic capabilities were being continually refined. NASA's way of one step at a time can be traumatic if we stumble at any one step.

Interplanetary craft should no doubt be more robust, "large and well-built vessels"...if we have the resources and time. But I wouldn't want to wait to go at all until we can do it in style. If a cramped adaptation of the Station or Mir-type technology is sufficient to get the job done with a reasonable chance of survival and success, at least in the beginning, I think it's worth it. I know it's easy for me to say, but I wouldn't be surprised if the professionals who'd be the ones doing it might accept some discomfort and risk, especially if the alternative is to not go at all.