The best experience that we have on Earth is the fact that we have scientific stations, weathering over stations down in the Antarctic for almost the entire 20th century to learn how to exist in exceedingly hazardous conditions; and the Moon is far more hazardous than Antarctica. At least they have water there.
I theorize that there is a spectrum of consciousness available to human beings. At one end is material consciousness. At the other end is what we call 'field' consciousness, where a person is at one with the universe, perceiving the universe. Just by looking at our planet on the way back, I saw or felt a field consciousness state.
We are not learning to view ourselves as an advanced, evolving civilization. That is what we really must learn to do, in due course, if we were to survive. All of that will take place, in due course, and we will be able to explore solar system. We will be able to go beyond it, provided we get our act together and learn to live as a civilization.