Amateurs have reached the karman line, orbit is still pretty much out of reach. The people who get close to the karman line use two stage passive stabilized airframes and solid fuel motors. The airframes are basically works of art and it takes a lot of luck because of passive stabilization and Mach 3+ speeds. Many pictures of these rockets have their paint and leading fin edges burned off when they're recovered. Propellent is expensive and an attempt at > 100k feet is about $5-6k an attempt in propellent alone.

This guy is widely respected in the hobby and this flight made it to 293k feet https://www.youtube.com/watch?v=gmv7G6Rf5WE

Check out the liquid bi-prop engines the halfcat guys have, apparently they were just certified by the HPR hobby governing organization Tripoli which means they can be insured at sponsored launches. With a liquid fueled engine you can do thrust vectoring (nozzle gymbaling) easier than solid fuel motors so active stabilization is more feasible. If you have active stabilization then all you need is thrust to weight > 1, enough fuel, and you'll eventually get to whatever altitude you want. Orbit means orbital velocity and that's just a whole other ball game.

https://www.halfcatrocketry.com/