I am going to try and take a crack at this, but by no means am I a historian, so mods feel free to strike away if this does not meet standards.

So, there is not a super clear-cut answer for you, because science fiction writers of the time were by no means a monolith. They had a wide range of political philosophies, and many of them do not fit neatly into the categories we would like.

Robert A. Heinlein is perhaps the best example of this. Heinlein was a political conservative, actively campaigning for Barry Goldwater in 1964, though Heinlein tended to describe himself as a libertarian.

In 1955, Heinlein wrote Tunnel in the Sky, a book we would now call a young adult novel. Tunnel in the Sky was about a group of young students traveling to a distant planet, and becoming stranded there. It was a direct response to Lord of the Flies, published a year earlier. Heinlein took umbrage with Golding's dim view of human nature and sought to tell a story wherein the young students not only survive but indeed build a democratic society.

Tunnel in the Sky is notable for having numerous female characters be among these space explorers. Perhaps the most prominent female character in Tunnel in the Sky is a girl named Caroline, who is described as a "tall Zulu." Caroline is not only explicitly Black, but her character is also shown to be one of the most competent members of the expedition, from hunting game to acting as the official historian of the group writing everything down in shorthand.

Another important trait about Caroline is that multiple characters assume she and the main character, Rod Walker, have feelings for each other. While in most YA novels this would not get much consideration, Heinlein himself described this as a "breadcrumb." He left a few of these "breadcrumbs" in the novel, to hint to the reader something he was forced to leave out of the published novel.

Rod Walker, the main character of the novel, was intended to be Black. Rod is a smart, resourceful leader of the expedition, who helps the group become a functioning agrarian society. The publisher pushed back against this idea and Heinlein reluctantly took it out, but not before leaving behind his "breadcrumbs."

So there is a story from 1955 wherein women and POC went even further than Mars.

A few years later, Heinlein would write his breakout hit, Starship Troopers. Though it depicts a highly-militaristic future, Heinlein once more shows his views of racial integration within the novel. The novel follows young Johnny, a highschooler who joins the power-armored Mobile Infantry in order to impress a girl. The novel follows Johnny through basic training, to the battlefield, to officer school. The novel is notable for showing many women serving in the military, though in different roles. Most pilots were women, for instance.

Near the end of the novel, Heinlein gives us a twist. Johnny is just a nickname, his legal name is Juan Rico, a Filipino man who speaks Tagalog. No characters mention this at all prior to the end of the novel, as it only comes up in a conversation about the characters' mother tongues. This was Heinlein's vision, a future where race mattered little in society.

This is not to say Heinlein was perfectly enlightened; Tunnel in the Sky contains some very stereotypical Yellow Peril tropes near the beginning of the novel, but it was more progressive than the US government at the time.

Sources:

Much of this comes from Heinlein's own correspondence, archived by the Heinlein Trust Archive. I am not really quite sure how to cite a primary source such as this, but here is the link to the relevant correspondence