I have nothing against humans becoming multi-planetary but this is a luxurious desire at this point in history. We should solve poverty first. This is the kind of project which you do once there are no more problems to solve on earth.
From 1990 to 2025, the number of people in extreme poverty dropped from around 2.3 billion to roughly 831 million. I think we're making fast enough progress here to warrant public companies going to space on their own dime and volition.
Space exploration might help solve poverty, though. It will create new occupations, as new technology and discoveries always do.