Although it doesn't feel like it, things are picking up. for the first time in over a decade there's competition for domestic security launches. The cost of kg to orbit has fallen by nearly 10x in the last decade due to SpaceX(Strictly comparing the spaceshuttle to falcon9. I'm sure you could argue 5x even against Ariannespace or Proton rockets). We landed a fucking first stage after it sent it's payload to orbit. That's AMAZING and is what it will take to increase(by virtue of cheaper launches) our access to space.
I'm obviously a fan of what SpaceX of doing, but if one looks around the launch provider community(globally) you can see the effects being felt by everyone where you needn't be a fan to see it.
ULA is moving fast to retire it's Delta line of rockets because of their obscene costs, and to a lesser extent Atlas V. They are currently designing a rocket, Vulcan, capable of semi-reuse aimed at reducing their costs to launch.
Arianne has released it's own version of reuse, Adeline, to be used with their next gen rocket Arianne 6, which is supposedly cheaper than Arianne V before even before re-usability is taken into account.
Russia is being Russia, but currently their proton launches rival the cost of SpaceX and are super cheap as it is. I don't recall having seen any plans for next-gen rockets or for re-usability.
If we follow these trends, especially assuming reusable rockets are successful and can further reduce costs, access to space is getting dramatically cheaper, and prices will continue to fall for decades to come.
I don't think it will take China to do a lunar flyby to increase space development because a resurgence in space is already happening.
Edit: Added more rocket gifs because rockets are awesome.