I understand the desire for action, but we need to invent another task besides exploration to engage in. I.e. resource exploitation. Purely observational exploration of outer space is a task for which we are extremely maladapted (vacuum, long distances, etc.) that robots will probably always be better at.
I definitely agree with what you're saying at the beginning, but I'm not so sure about the end.
I think there is some value in putting humans in space. It certainly seems many scientific discoveries are made by a scientist observing or experiencing something, noticing that it is strange, then investigating. A perfect example of this is the development of microwaves, which came about because an engineer working on radar noticed that a candy bar started to melt when near the radar. Robots are certainly superior by almost every metric once you know what you're looking for, but I wouldn't be so sure that we actually know what we are looking for. Boots on the ground, so to speak, can offer insights that a robot simply cannot.
Exploring space with humans for the possibility of positive technological side effects does not seem a reliable, long term way to increase the number of people in space at any given time, if that is your primary goal. It seems like a way to temporarily boost the number by around 3.
If the goal is to increase the number of humans in space for the sake of increasing the number of humans in space, one would probably need to do research into a colonial business model sustainable enough to get investors and governments on board.
Or because there is currently no benefit in conducting exploration using humans instead of robots.