SpaceX can only do what they do because there is no human pilot on those test flights. I know that the Navy pilots argued and argued that you need a human on board but is that really true, or did that end up destroying the space program by making the cost of failure so impossibly high?
1. the science hadn't been fully developed ahead of time
2. he would have had a harder time getting other people on board with his idea -- he would have been labelled a complete crackpot
3. governments may have not have been so willing to allow him to do it
So pretty much, not before computers were good enough to autonomously land, so at best the 2000s.
Friction stir welding was invented in 1991. Full flow staged combustion was tried out in the 1960s. GPS was available 1993. Not sure how much computing power it needs.
SpaceX was founded in 2002.