In short, as soon as large hairless mammals are involved in the mission, 99% of the mission's resources are suddenly consumed with keeping said large hairless mammals fed, watered, breathing, amused, etc. So basically, there's nothing left to do anything of much value, especially on any kind of reasonable budget.
Cost is the main reason robots have gone all over the Solar System and beyond, and the farthest any humans go these days is to LEO to hang out at the ISS.