SpaceX is developing its
Starship Super Heavy two-stage super heavy-lift launch vehicle for interplanetary flights. But, if you would need a flight only between the surface of Mars, Moon or other similar planetary body and its orbit, you could do it by
less powerful spacecraft - an orbital shuttle.
Here is a
concept of such spacecraft, called
SpaceX Starflight, by Spanish transportation designer
Rodrigo Magro. The orbital shuttle would have a lifting-body shape with thermal shield on the windward side, two forward winglets as Starship, four lower fins with landing legs and solar panels, large panoramic window and hypergolic auxiliary engines for landing on the Moon and other smaller planetary bodies.