Any large fully-reusable rocket basically fits those goals, but methane might not be ideal for the second stage, if you don't intend to refuel on Mars. Hydrogen has better ISP, so your mass budget isn't so tight. It's also six times better as a coolant, so if you want to try SpaceX's original plan of using evaporative cooling in place of heavy tiles, it'll work better. Blue Origin and Stoke Space both use a methane first stage, hydrogen second stage. (Stoke Space has planned evaporative cooling from the start, Blue Origin put in a patent application for their version later.)
Then again, Musk is also big on reusing components as much as possible, so he might have opposed multiple fuels on principle.
