Armadillo, Blue Origin, and Masten (and the DC-XA before them) have all been working on rocket powered VTVL flights and have done sub-scale test flights. It's a technology that just plain makes sense, especially now that computers are so cheap and so fast. Perhaps in 20 or 30 years it will be so common and routine that a lot of people will think it's a natural part of spaceflight and wonder how it could possibly be done any other way.