The Falcon landed on land before it landed on a barge. Obviously landing on a moving/swaying barge is harder, however they had to start with water landings because they hadn't proved they could aim at their target. Once they crashed into the barge a few times, the FAA was convinced they'd only blow up the landing pad and not drop it on something else in the launch complex. So they got clearance for landing on land.
The early starhopper/starship flights proved what they needed to that they'd generally land on target.
The early starhopper/starship flights proved what they needed to that they'd generally land on target.