If we were to expand our reach into Earth meaning that we would live in space the best thing to do would be build a self sustaining space station in semi deep space. (meaning far enough from a planet to not get pulled down to much by gravity, but close enough to transmit resources if need be.) A colony would be another option, but I believe that it would be more difficult to make a colony on the Moon or Mars because on the Moon you don't have any control on gravity or the day cycle, and on Mars there are gigantic dust storms the can block the sun for weeks at a time. A space station wouldn’t have any of these problems, but it is not perfect in any way shape or form. It is relatively defenseless if asteroids or comets hit it, It would have to be man made making it very very expensive to build and potentially uphold. The main things you would have to focus on for human survival is water, food, breathable air, exercise, normal day-night cycle, normal”ish” gravity, and Heat. The space station would be in control of all of the factors, Water - The station would have huge water filters to purify water to be able to drink it, Food / Breathable air - You would grow you own food in the station, and be doing so creates water via photosynthesis, Exercise - The space station would be huge enough to do your daily run, Normal day/night cycle - This could go one of two ways either the space station would have lights that would turn on and off, or the spin of the station would create the day via the light from the actual sun but this would be very dangerous because we would have no atmosphere to protect us from the uv rays the sun is giving off, Gravity - The spinning of the space station would act as a centrifuge forcing people onto the sides of the station creating artificial gravity, Heat - This could go with the day / night cycle one being that the station could be heated using the heat from the some but like I said before that would be dangerous, so it would be more likely for the station to be heated using a traditional heater just A LOT bigger like fifty times as big then you might need like fifty of those to heat the whole station. The space station world probably still be the best option because on a planet/moon you would have much less control over these things if any.
https://tinkercad.com/things/aR0ryl4YIvY A 3D model of what the station migh look like
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