There was a plan for Mars Sample Return mission. But it got scrapped by budget cuts/concerns.

https://www.hou.usra.edu/meetings/mepagapril2025/presentatio...

https://en.wikipedia.org/wiki/NASA-ESA_Mars_Sample_Return

Percy is never coming back (Martians will want her in a museum), but the samples can come back, if Percy is able to drive to the sample return vehicle.

I don't see any need to retrieve entire rovers after their deployment on the surface of Mars, no matter how much they themselves beg and plead for us to do so...

https://music.youtube.com/watch?v=gNwkawLGDkg&si=Nh-tLcjdJdH...