NASA's problem isn't really the money, it's the ridiculous bureaucracy and systemic inneficies that inevitably occur when you are forced by opportunists to fragment your supply chain and distribute your engineering infrastructure across the entire country. The constant change in executive policy is a consequence of NASA's inability to achieve its potential in the face of a functionaly hostile legislature.
Arguably the loss of Columbia was also partially caused by the same systemic problems: shuttle had wings (instead of a lifting body shape) due to Air Force's wishes. IIRC this necessitated the existence of the ET.
One may criticize its progress for being slow, but what is beyond debate is that the Shuttle program did not anywhere near eliminate risk.
We need a dreamer who can connect to the public in such a way that politicians support NASA. The issue is, what is good enough and reasonable enough of a dream to accomplish? I think a permanent base on the moon that suggests one day civilians will be able to go might work but it will be a hard sale