Sure, R&D might find some solutions, but recycling is not the answer for everything. Many of our modern alloys cannot be simply taken apart and put back together. REE's are notoriously difficult to recover from a smelter. There is no way that recycled copper can match demand.

Cost is another issue that will drive the R&D. We use the term "ore" very specifically: can it be mined at a profit? Right now, not many recycled materials are considered "ore". You just can't make money at it. It is far cheaper to mine REE than to try to recover trace amounts in huge piles of old computers. It is being done in China (see the movie Manufactured Landscapes) but not very effectively.

As for asteroids, the same rule applies. If it costs you more to get the metal, it's not ore, and it ain't going to happen. As a last resort, yes, when all other options are gone. Unless space travel gets cheap.

Someday, maybe, hopefully, well get out there and start getting our resources from outside our little egg. But I've grown cynical that that is going to happen anytime soon, and we'll spend our resources making weapons of war and killing each other, and not save this planet by getting off it. We are a chicken in an egg, only able to consume the nutrients in the egg. If we don't hatch out of the egg, and go into using other resources for our growth, we will not survive, at least not at this level of civilization.