Holy shit.

I’ve never been alive in a time when every human has been on Earth. That’s crazy to think about…

If you like pedantry, people have definitely flown in vehicles and even jumped.
I like pedantry but want to go the other way. The ISS orbits in the thermosphere, still inside Earth's atmosphere. I say that you haven't really left Earth until you exit the atmosphere.

i mean, even those guys who went to the moon still stayed within a very close proximity to the earth compared to the size of the solar system

only when people travel to mars they will really have left the earth

The Moon is basically Earth territory. You can’t go to Hawaii and claim you left the US.