SpaceX is also working on a vehicle to transport humans and cargo (at incredible scale) to Mars routinely using reusable vehicles. And to be 100% clear, Orion

SpaceX is also working on a vehicle to transport humans and cargo (at incredible scale) to Mars routinely using reusable vehicles. And to be 100% clear, Orion is not capable of making the journey to Mars. Orion is envisioned as potentially being a key component of a larger system that could be used for Mars exploration, but by itself it is perhaps only maybe 10-20% or so of what would be needed for such a trip.