Sure we can, but the big, big problem is that we can't develop engineering that is cheap. The further we push manipulation of the laws of physics the more difficult and expensive it becomes and there's no way around that fact. One man can can train a horse, build a cart and travel at about 6km/h for an indefinite distance. One man can't build a car. That takes several men. Several men can't build a spacecraft. That takes a huge corporation with a huge budget that can be funded only from the bottomless well of taxpayer money - and that includes Musk. He is a NASA subcontractor. If NASA doesn't foot the bill using government money then Musk doesn't get to put anyone in space. These are the natural brick walls to technology. Theoretically we can push the boundaries indefinitely, but in practice the cost of doing so eventually becomes just too prohibitive. That's what killed supersonic commercial flight: it cost too much to be economically viable (the Concorde was always subsidized).
I mentioned earlier that transport tech ceilinged out about 60 years ago. A car is meant to take you from A to B, quickly and affordably. That's its primary objective, anything else is incidental. Looking at the numbers, cars have been doing that at about the same cost for performance ratio for decades (keep in mind petrol was cheaper then so there wasn't such a need for fuel efficient engines). Even the humble Model T did as well as any modern car with the same pricetag. In fact the only modern car as cheap as the Model T was the Tata Nano and its overall performance was roughly equivalent: a little faster but higher on maintenance, and less adapted to off-road performance which the Model T was designed for. Fuel consumption incidentally was the same. Commercial subsonic air travel: speed and travelling time hasn't changed much since the 1950s (actually it's slower now). Economies of scale have made it cheaper but that's not a development in technology.
I think people are slowly waking up to the fact that most of the big brick walls have been reached. What we're largely doing now is crossing Ts and dotting Is. Sure, information and communication tech have advanced dramatically since the 90s but to what extent has that physically improved our lives? There's one area where strides continue to be made and that's in the field of medicine, but I don't know if progress is slower now than it was a few decades ago. Certainly medicine has become expensive.