Most likely 25-30 years. Ability to get there within 3 years, exploration within 10, ability to get there in a cheap way, 25 years, government giving access, 25-30 years.

In my opinion, no. Unless it’s in the form of life like maids for the rich, nobody really wants a humanoid robot in their house. They’re big, need a lot of power, and are kind of creepy