Rejuvenation won't cost millions, or even hundreds of thousands. It will likely cost less than many people spend on overpriced coffee over the course of two decades of life, and should fall far below that level. When the entire population is the marketplace for competing developers, costs will eventually plummet to those seen for decades-old generic drugs and similar items produced in factory settings: just a handful of dollars per dose. The poorest half of the world will gain access at that point, just as today they have access to drugs that were far beyond their reach when initially developed.
Nonetheless, many people believe that longevity enhancing therapies will only be available for the wealthy, and that this will be an important dynamic in the future. Inequality is something of a cultural fixation at the moment, and it is manufactured as a fantasy where it doesn't exist in reality. This is just another facet of the truth that most people don't really understand economics, either in the sense of predicting likely future changes, or in the sense of what is actually taking place in the world today.