Dragon 2 isn't built yet. The escape test was a boilerplate capsule more like a Dragon 1 than 2. Dragon 2 has not demonstrated a soft landing, because it's not built yet. That was the Falcon 9 first stage.
Also, you can't get Dragon 2 down to the Moon and back up on it's own. Not enough delta-V. You would need to have Dragon ride on top of something that can hold enough fuel. Like a larger version of the Apollo Service Module.
The Command/Service module was originally intended to land on the moon and return without the LEM, before NASA bought the LEM concept, and was overpowered for the mission it got. Dragon is larger and heavier, but a lunar landing one would probably look a lot like an Apollo Command and Service module, and legs.
And yeah, Orion: I'm Not on Board. Big expensive obsolete rocket with no mission that makes sense.
But good luck getting Elon Musk to focus on the practical and eminently desirable target of the Moon. He isn't interested. It's only Mars for Elon.
I try not to watch all of the Mars Colonial Transport speculation. Falcon 9 and Dragon are great, and they're here, and we could do so much with them.