Could research/technology ever develop a re-entry method that catches or lands capsules on a specific target that would improve safety and lessen impact for astronauts and capsule?

When I mean catch, I’m thinking something like the recent Space X rockets that land back where the took off with some kind of shock absorbing landing pad that’s softer than ocean or land. Or is the ultimate goal to have shuttles transport astronauts back to earth during and after ISS is operating?

And bonus, when the ISS is put out of service, will astronauts going to moon always go straight there and back or would the creation of a station in earth’s orbit that could function as a “rest stop” be advantageous or practical for a series of moon missions?