I think it will come sooner than expected.
Though not in a way familiar to us now.
I believe in the Technical Singularity. Computer’s speed and ability have doubled in ever shortening times. Doubling computing ability faster and faster. The Technological Singularity is estimated to arrive at around 2040.
They key to exploring these places lies not in conventional physical space travel, but through the mastery of space-time and creating safe wormholes. I am pretty sure that around the time of the Technological Singularity, the computers and technology of the age will begin to master such.