if you want to build a Tylo SSTO (one that can land on Tylo) use vector engines. High gimbal and thrust help to land.
for SSTOS, you want to be going at least 100m/s on the runway, or else you might not fly up.
when going to Minmus because and pay attention to your orbit. It at the edge of Kerbin's SOI so it can be hard to get the menuvers just right
Prograde: increases speed
Retrograde: decreases speed