Provided we don't wipe ourselves out, there's no technical reason why we
can't go interstellar. It's just way harder and more energy intensive than most people imagine, so I doubt it's happening any time in the next few hundred years.
But we already understand the physics and feasibility of "slow" (single-digit fractions of c) interstellar propulsion systems. Nuclear pulse propulsion and fission fragment rockets require no new physics or exotic engineering leaps and could propel a probe to the stars, if one was so inclined. Fusion rockets would do a bit better, although we'd have to crack the fusion problem first. These sorts of things are well out of today's technology, but it's not unforeseeable in a few centuries. You could likewise imagine a generation ship a few centuries after that powered by similar technology.
The prerequisite for interstellar exploration is a substantial exploitation of our solar system's resources: terraform Mars, strip mine the asteroid belt, build giant space habitats like O'Neill cylinders. But if we ever get to that point - and I think it's reasonable to think we will, given enough time - an interstellar mission becomes the logical next step.
Will we ever get to the point where traveling between the stars is commonplace? No, I doubt it. But we may get to the point where once-in-a-century colonization missions are possible, and if that starts, there's no limit to humanity colonizing the Milky Way given a few million years.