Booster recovery became normal so quickly that upper-stage reuse sounds like an incremental next step. The energy involved says otherwise: roughly thirty times more kinetic energy to dissipate.
Heat, mass and honesty
Every gram of thermal protection is a gram of payload. The designs that pencil out do so with margins so thin that a single conservative assumption erases the business case.
Two credible approaches are in test: aggressive active cooling, and accepting a much smaller payload in exchange for a stage that flies ten times.
Both will look obvious in retrospect. Right now they are both expensive experiments.
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