> Sure we do. TBMs. Not all of which are manned.
To ignore the massive difference in scope and scale between a space probe with a tiny rock drill and a tunnel boring machine, TBMs require literal tons of lubricants/coolant to operate. Even if you had a 100% electric TBM none of its parts are going to move without lubrication. Even "unmanned" TBMs aren't fully autonomous, they have a small army of squishy people in hard hats adjusting fasteners, checking feed lines, repairing damage, and generally maintaining the machine.
TBMs also going to be orders of magnitude more difficult to build for use on the Moon or Mars. They're incredibly dry environments, dryer than most places on the surface of the Earth. The dust is electrostatically charged and literally creeps along surfaces into seams and seals. The dust is also incredibly abrasive. Machinery does not like dust, machinery will hate Lunar and Martian dust.
In actual operation machinery does not look showroom pristine. It gets dirty and needs to be bathed in lubricants and coolants. Dust, dirt, and shavings get everywhere except in the cleanest of cleanroom environments and those take tons of effort to maintain.
Everything around you was manufactured with a very long tail of infrastructure. You can't just build a PV factory on Mars. You need to first build the infrastructure to build infrastructure before you can lay the first 3D printed brick for a factory. Even if you've got that infrastructure and factory you need a whole supply chain of refined materials to feed the factory to get solar panels.
It's not a handful of unmanned Starship missions, it's a hundred missions with no failures landing billions of dollars of basic infrastructure just to start building more infrastructure. The whole endeavor also needs to use technology like autonomous robotic mining rigs and autonomous mining rig support robots that don't even exist on Earth. I honestly don't understand trivializing the amount of infrastructure and complexity required to manufacturer things here on Earth let alone anywhere else in the solar system.