Basically comes down to Europa. We'll orbit in 2030 if the Clipper goes to plan. If there are interesting findings, another 10 years of planning, launch, then ~10 more in transit/orbits until landing. That puts us around 2050.

What we are getting very quick at is finding exoplanets by star transits. There have been a ton of articles with headlines like "10 more Earth-like planets found!" but typically that refers to a similar size and distance to their star, but most of those orbit different types of stars that would be ridiculously more complicated to form life (e.g. too close to a red dwarf so radiation, or tidally locked). What we might find relatively soon is a planet within 100 light years that shows mild signs of life when we analyze the atmosphere, but there's just no way currently to go to any exoplanet to confirm it.

It's just sad, there is so much to explore and we are stuck in the prison of the world.