It may not even require a high price tag. I present as a hypothesis that exploration is a form of competition, i.e. the most competitive societies explore the most.
As an example, the European Conquest of the Americas was driven by competition between European nation-states, it might not have occurred so swiftly or at all without some kind of competitive pressure.
Said another way, imagine yourself waking up in the court of King James of England or Queen Isabella of Spain. You establish rapport and they believe you come from the future. You communicate faithfully what you know about history. What conclusion do you think they are more likely to reach?
1) They have done the right thing by colonizing the Americas.
2) They have created what will eventually become new competitors, of whom at least one (the USA) will have subjugated them under the disguise of an alliance called NATO.
In the crucible of 15th-century European politics, neither England nor Spain may have had much choice in their desire to acquire more resources and open new markets.
And maybe the 21st Century will have cheap space travel and good reasons to take the trip. But we shouldn't ignore the possibility that Earth's governments may just decide to not let anyone leave and blast anyone who tries. Let's call it the "Nitrogen Curtain" in honor of Winston Churchill.