Not quite sure what you mean by counterweighted rollable trusses (I'm assuming you mean baton-stations/tumbling pigeons?)
Rollable composite trusses:
Based on the same principle that lets tape measures work, but taken to much more extreme ends - each strand rolls out to a nearly circular cross section, with snap locks that join the two sides together. For trusses, all of the truss elements are rolled up together, so the whole truss snaps out and locks. It's a really interesting tech; it's been worked on for decades, but it finally seems to be maturing.
There is a third option I'm calling DEployable Spin Gravity Array (DeSGA - small animation attached), which I would put on space craft intended to support humans working out at asteroids.
Interesting. Seems more complicated than rollable trusses, and seems to fundamentally require large fairings.. but otherwise I see no reason why that wouldn't work. How do people move between segments? Is there an airlock at each end that joins up when the structure folds out to a ring?
But I think building habitats from asteroid regolith can happen sooner than you're expecting, it's just that you can't do anything clever with it. I'm thinking something along the lines of a mold that takes loose regolith and stamps/sinters it into segments of a large scale torus.
It's the "stamping / sintering" around a mould (aka having to relocate it, having the sinterer not just be some enclosed hollow, etc) that raises big question marks in my mind. But, who knows?
Work with sintering asteroid material for return to Earth could certainly advance the TRL enough to make it worth a shot. The latter has always seemed the most obvious way to make asteroid mining with Earth return economic: sinter to a hollow aeroshell shape (simple enclosed mould) and eject with a quench gun (it's iron-bearing, after all) onto an earth-crossing trajectory, either for aerocapture to orbit, or to impact within a particular target ellipse. Aka, it's its own ablator and entry body. But to do that you'd have to be able to justify the easily-multi-billion-dollar-per-component cost of developing A) mining infrastructure, B) sintering infrastructure, C) power infrastructure, and D) a quench gun with the capability to impart several km/s dV. If you've gotten that far, I guess the next stage of having a mobile sinterer and non-self-contained mould might not be so far fetched