SLS is the thing that launches Orion, which is the capsule with humans inside. SLS isn't capable enough to get that capsule into lunar orbit. Orion also isn't landing by itself though, it just transfers the astronauts to a landing vehicle (SpaceX Starship, currently...), which lands and then starts again.

The thing brought up in that video is that the rendezvous point should probably be in lunar orbit, but isn't.

No, Starship may carry people to the moon, but getting them off the moon isn't possible. The lunar Starship won't return to LEO.

The closest thing you could do is send another Starship and do the same NRHO docking that SLS+Orion is already doing and then instead of aerobraking, do a deceleration burn to get an LEO capture. That is the only way without Orion. For better or worse, Orion in NRHO is indispensable.