Eventually yes, asteroid mining and space manifacturing will likely occur. But it is very much not in reach, not even remotely. It will take centuries to get there.
Also, no, this whole space mining and space manufacturing won't have humans in space. It will safe all the life support stuff, be able to accept higher risks and will run in a combination of remote and AI control for everything.
But as said, we are very much not there yet. We can send a probe to the asteroid belt, that's it. How much bigger and more expensive will a mining station be ? How does it get repaired without getting any external supplies ? How will it work ? What kind of materials can it even extract ? How exactly are we going to use those materials, which are in the asteroid belt near the mining station now ? Are we sending full assembly lines after the mining station ? Assembly lines for what exactly ?
It is not impossible to answer this stuff, but it really is a long time off. And no, SpaceX can't do it either. The only thing SpaceX can do is put stuff in the Earth orbit, slightly cheaper than before.
