Shows like, "The Expanse" while the show in of itself fictional has some grounded ideas as per the author; it kinda shows how life off earth would look like to some degree and how living in space or zero gravity for years would do to the body. But I would assume traveling from one planet to the next or even on the moon would be very pricy for a while but then work something like Jet blue and have something affordable for everyone.
Are we heading for the direction? Yes and no, Yes because ever since NASA funding is waxed and wained throughout the years others are trying their own methods to getting into space and being that is happening its becoming independently and if its becoming independently that means the cost will be expensive. Even if its just an orbiting deal, I actually looked at one of their websites like Blue Origin they ask for damn near $8,000+ dollars and up and that's the future for now until they work on that price or until god forbids something happens with this planet!