I can see lunar build-out and subsequently mars terraforming/colonization within humanity's destiny, within the next few centuries.
Beyond that it gets fuzzy. It all depends upon how close a potentially habitable planet is found to be. That is more of a millennial or multi-millennial effort, assuming we don't foul the planet into near extinction in the meanwhile. It would entail
multiple robotic turn-arounds to reconnoiter the target planet.
Besides which, running into a grain of sand, anywhere along the journey, will be journey's end. It might well be that either such missions are beyond human organizational/sociopolitical capabilities, as we now understand them, or we develop a willingness to sacrifice much & many to land the few safely for efforts with limited immediate gain beyond the ensuring of human survival, a collective goal for a species not inclined to collective aims.
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