Other aspirational goals he has set include a colony of a million people on Mars and a neural lace. I think a humanoid robot is less ambitious than either of these two.
On the other hand we just do not have the technology for a full humanoid robot, neither now nor the near future. An AI that can do mundane tasks like ironing and folding clothes is way beyond our grasp, and then there are the issue of limbs and power too.
Not for live humans we don't. The record for landing on Mars is around 1 ton for >$1B, this is too little for a crew cabin and ignores the life support requirement for months spend in space.
IDK, man, life support systems for such a long trip are much more demanding than for a jaunt to Moon and back.