The two objectives need to be separated
If you want to explore space, do it with machines, which are becoming
more capable and flexible all the time.
If you want to colonize space, use people. They can get some exploring
in too, but the main reason for sending humans to the stars is to get
us off this rock and spread the wealth around so we don't go extinct.
Back in von Braun's day, they planned big space missions with lots of
people because they did not forsee computers and other technology
handling a lot of the tasks required. His lunar mission planned three
big spaceships with 70 men and a huge support system in Earth orbit.
Today that kind of setup should only happen as part of a colonization effort.