That is not a vision, it is fantasy. There is no scenario by which it will be better for humans to live in space than on earth. Not now, not soon, not ever. If you didn’t have the radiation shield provided by the compliant earth core you would be lucky to live half as long as on the planet. And that’s not to mention the little issues of food, oxygen, and other niceties like water and gravity.
I’m all for exploring space and learning as much as we can about how the universe came to be, but the realities are that the distances are too great, the environments too hostile, and the resources too limited. We are like a fly in a terrarium, looking out, but never being allowed past the cork.
SpaceX has done a fantastic job improving on the base that NASA built, but no matter what it will be unable to change the realities of the cosmos.