I know you have an axe to grind, but NASA launched their hypersonic flight testbed well before this and your commentary is without factual basis. (Did you even read the page you linked? It states the project came from a DARPA design and NASA developed and canceled it as impractical!)
Behold.
No, first of all the X30 was supposed to be an unmanned proof of concept to advance the technology, but the military wanted a bomber straight away, which required massive redesigns in order to make it man rated. Behold
The Department of Defense wanted it to carry a crew of two and even a small payload. The demands of being a man-rated vehicle, with the instrumentation, environmental control system, and safety equipment, made X-30 larger, heavier, and more expensive than required for a technology demonstrator.
DARPA was involved from the get go, but they weren't the ones who were pushing unrealistic demands. The X51 you presented is actually a step behind the X30, and with the lessons learned from the X30 as it was meant to be the Air Force would have had their precious Falcon years ago.
I'll also point out that in 1993 a number of things were cut because there were some serious all around budget cuts.
Behold. All in all these cuts ended up causing some major setbacks to basic R&D in several areas. Practicality wasn't the leading determinant of what got cut.