A big part of the cost of space missions is not making things as light as possible, but developing the scientific instruments. More upmass doesn't always make designing sensitive scientific instruments easier. If said scientific instruments need to go on a rover, mass still matters. More mass can limit rover mobility and at some point the rover requires more power than can be provided with RTGs or solar cells.
Exactly. Way too many people seem to ignore the cost of developing and certifying scientific instruments. There's nothing gained from sending 50t of metal to the outer solar system. Scientific instruments are usually purpose-built and while lifting mass restriction can bring down cost, you'd still have to account for redundancy and precision because no one's going to fly out to Jupiter to properly unfold that darn an…
It gets ignored because it is a symptom of not being able to cheaply launch probes. You spend all of this time researching and developing a scientific instrument only to make two of them. One to launch the other to go on a diagnostic model (maybe a third for a launch backup). You spread out the cost of development over more units and bring down the per unit cost of manufacturing (although probably not that much given we are still talking quantities in the tens or at most hundreds of units). But without a cheap launch system there is a fixed cost per unit of hundreds of millions to get it into space, so there is very little point in producing more than what you need for just that mission.
Of course certain missions are going to require special specs, but I do think that generic, somewhat modular spaceprobes are around the corner now that launch costs are going down. If you are going to retire a space craft that you've made a profit off of shuttling cargo to LEO might as well discard of it by sending it on one last mission into deep space with a couple of scientific missions onboard.
We will end up spending more money overall, but cost per unit of science (however you want to measure that) will go down.