I think the complaint is (usually) a bit more nuanced than that. I, for example, am totally encouraging of SX to take over all earth orbital works, as well as the moon. NASA is wasting its time and our money in those areas. However, I think it’s a waste for anyone, SpaceX or NASA, to send people anyplace outside of the moon. (And even putting people on the moon again is of questionable value.) NASA should stick to what it does best: Remote robots and instruments.