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NASA isn't why the US doesn't have universal healthcare, or a social safety net. The US doesn't have those things because politicians with the power to provide them choose specifically not to (with varying levels of support from voters). Enthusiasm for human spaceflight doesn't drive that choice.

It's frequently pointed out that NASA activities (and basic/exploratory science in general) have a fantastic return on investment, contributing far more to the economy than they take. But even if they didn't, no one's actually taking from the "cure sick people" pot to put money in the "rockets" pot.