Sending astronauts to Mars surface and bringing them home is energetically horrific. It's not so much the getting to Mars orbit bit that's hard work (at least, from Earth orbit), as descending into a gravity well and then getting back out of it again.
But current Mars robots have a huge control lag due to speed of light delays (up to 30 minutes between Earth/Mars, depending on where both planets are). It'd be easier to explore the surface using robots if they were controlled by astronauts in orbit -- say, in a small space station dug into the surface of Phobos or Deimos for radiation shielding.
And the easiest robots for a human to control directly using a conceivable circa-2030s AR rig are either a car-like machine or a human-body-shaped machine.
You could trial such a device on the Moon (as part of the Starship HLS plans NASA is currently backing for the Artemis Program), as an adjunct to actual astronauts on EVA (which is always a risky task). And the software for a human-controlled humanoid robot would be vastly easier to develop than the sort of fully autonomous control system Boston Dynamics is aiming for, hence (I suspect) Musk's over-optimistic projection.
TLDR: I think Musk is trolling Boston Dynamics et al, and his real goal is something a lot more practical. (Either that or he's been hitting the magic mushrooms again.)