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I read somewhere that so much of the Saturn V development wasn't documented properly, or the documentation has been lost, that it's hard to easily build that system anymore. In that sense, I guess, we've forgotten how to do it. Obviously, the math and physics are still understood, so it should be as simple as designing a rocket of equal or greater capacity, and it appears we have.
Apparently, the Artemis I mission already put an unmanned mission with the Orion spacecraft through to orbit the moon and return safely to the Earth. They're planning a crewed flyby in 2025 and Artemis III is projected to land sometime later this decade.
It's a crime I didn't know that before looking things up about the Saturn V.