From this, Elon founded spacex thinking he will build the rockets himself. A founding tenet of spacex was to decrease the cost of access to space. To achieve this, they set about trying to reuse rockets in the very the beginning. Their first rocket, the falcon 1, had parachutes on board to test first stage reusability. Later, on the first 2 launches of their falcon 9 rocket they again tried using parachutes. It became apparent that using parachutes wasn’t working and so, in 2011, they began the grasshopper program to practice their rockets propulsively. Within 4 years from the start of the program, spacex was successful and had landed a first stage from a rocket launching a payload
To suggest it wasn’t part of the original inception of spacex or it was just an off the cuff response is blatant exaggeration. Listen, Elon has quite a few problems and in my opinion he should not be in charge of the day to day management of his companies. He should be the ideas man, pushing the companies vision and letting others get bogged down in implementing his ideas.
If Musk isn’t actually pushing the buttons at Tesla then the magic is gone.
Mr Musk deserves credit for running with the idea despite incredulity, but it wasn't due to his vision.