Ken,
We are already doing what you suggest in your post, to the best of our ability at the times we commit to constructing a design for a launch date.
And the results are clearly not the same as having a human on the far away site of operations. Examples are the problems we have with collecting rocks from Mars and asteroids, including such seemingly trivial things as getting material into containers, and getting those containers closed without jamming. We also have trouble keeping dust off solar collectors on Mars. And, there is the issue of micrometeorite damage that can happen to anything anywhere at any time.
So, things go much more slowly with robots than with humans on-site. True, you can always do the mission over, with improved robots next time. That is sort of what we have been doing on Mars for 50 years, starting with the Soviets in 1962.
Better robots with binary vision (especially in light frequencies humans cannot see), much better dexterity (able to walk and grasp with hands that can feel, twist, etc.), and far superior situational awareness and problem-solving capabilities would be able to do things a lot better and a lot faster. We can already make "robots" that can outmaneuver our fighter pilots, but those are basically automated airplanes, not automated pilots flying regular airplanes. Those automated airplanes cannot go for a beer at the airport after flying a mission.
So, all I am saying it that we still have a long way to go to make robots that can perform a well as humans in situations with poorly understood parameters or very complex combinations of parameters. (Airplane dog fighting is actually rather well defined, parametrically.)
I think we can make robots that can perform as well as or even better than well trained humans, eventually. But, I also worry that might not be such a good idea. Even if those robots are actually robots with limited AI, they would still be formidable weapons if their controls were in the hands of bad humans.