We even have samples returned from comets and Mars samples waiting to be picked up.
This is not what we were expecting from space exploration back in the '80s (let's say). I don't personally care what we might "learn" by sending robots to Venus or Mars, I want us (humans as a species) to be able to have new Magellans.
For the cost and effort of a single manned Mars mission we could learn much, much more by sending many robotic missions, including returning samples.
From a scientific perspective there is currently little reason to send humans anywhere.
You can argue we’ve explored space much more than we would ever have if we focused on manned missions, making space exploration more alive than when we sent humans to the moon.
I've mentioned it explicitly, people like me don't want learning, we want exploration, actually getting to stuff. We don't want any new information, we've already got plenty of that, we want an actual change of our physical location in the Solar System.
More generally, I think that this insistence on "learning" instead of "exploring" is similar to how in the late Middle Ages the scholastics were all too happy to rehash the same treatises on Aristotle and the like, seeing that as the epitome of the intelectual human condition. It took some Portuguese and Spaniards from the outskirts of the continent to put all that upside down and actually discover the world at our disposal.
If we can’t even return rocks from Mars, how are we ever getting a person back? It’s not even a given that we could get a human to Mars alive.
If people with your mindset were in charge, I think we would get there sooner, but there would be many lives lost and untold money wasted first. For what? To plant a flag?
As was most of South America to the European man when Magellan did his thing.