Um yes they did. It is called SpaceX HLS and Blue Origin Blue Moon Mk 2.
You're kind of skating around the truth here. Congress did to Artemus exactly what they did with Constellation, they funded the rocket and the funded the capsule but held off funding the lander until later. Constellation was cancelled before needing the lander funder, Congress funded the Artemus rocket, and Orion, but did not fund the lander until a couple years ago. They should have funded it at the same time so it would be ready when Artemus 3 needs it. By delaying funding neither SpaceX or Blue Origin have had the time to design and build a lander before the artifically set 2028 deadline.
