One can be simultaneously on earth, and in space. In fact we all are

But I'm just arguing that while orbiting earth and being within the Earth's atmosphere, it's pretty much still on Earth. Just like you're still at home even if you're at the on the yard or even just outside the gate picking up mail from the mailbox. Looking at it from distance, it really doesn't make difference

Imperial Starship. Wait, wrong comm.

Islamic State of Syria

International Space Station

I couldn't find any source for that, but exosphere is considered to extend to 10,000km or 190,000km, from which the latter is about halfway to the moon.

Anyways those numbers are pretty damn tiny even on a small solar system scale

Anyways, even if you look from very close, from our own moon to the earth, anything on the low earth orbit is so extremely close to the planet. Just look at some of the famous earthrise photos, and think of something orbiting ~8% of the radius distance

Hérë, håvē ßòmê mõrè.

The last time everybody was touching a solid object connected to the Earth by touching other solid objects is probably around 15,000 years ago, when humans crossed over into the Americas. Before then, it would probably occur regularly that nearly all humans are asleep and the handful that are awake happen to all be touching the ground.

Does it really count as being “on earth” if you’re standing on a floor instead of having your feet directly touch the dirt?

You could also count earth's gravitational field, then nobody ever left it.