Imagine the smallest possible rocket that can take off from Mars with samples aboard. How much does it and it's fuel weigh?
Now imagine how big of a craft you'll need to slow that rocket down from interplanetary speeds and land on a target on Mars. How much does it weigh?
And how much fuel will it need to accelerate to interplanetary speed after lifting off from earth? And how big will the rocket need to be to lift all of that into orbit?
The answer to all of this is making fuel on Mars. SpaceX called this it over a decade ago, and they aren't wrong.
For ten billion dollars, you could just pay SpaceX to send a Starship to Mars and have a human on board grab your samples directly.