Perhaps it was inevitable--space is a hostile environment, expensive to get to, and there are fewer projects that require human intervention. With the economic doldrums ahead I suspect that resources for innovation and exploration will be hard to find even for the robotics, and nearly impossible for human flight. And if you wait long enough the experts die and you have to start from scratch, if you can.
There are worse legacies than a history of explorations and the knowledge they brought. They won't make tourists gasp a thousand years from now like the pyramids do, but maybe they'll make schoolchildren dream.
"I always knew I would see the first man on the moon. I never dreamed I would see the last." --Jerry Pournelle
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