TL;DR for the linked article

An independent review found that NASA’s Mars Sample Return mission plans are unrealistic and need significant changes. NASA hoped to launch the first elements in 2028 for $4.4 billion, but the review estimates a 2030 start at the earliest for $8-11 billion. The report states that the mission was established with unreasonable budget and schedule expectations and an unwieldy organization. It echoes earlier concerns raised by Ars Technica and some NASA scientists that the growing costs could take away from other science missions. Under the current plan, the Perseverance rover will collect samples and deliver them to a lander, which will then launch them into Martian orbit for pickup and return to Earth around 2033.

Notably, the review suggested a single helicopter may suffice for backup sample retrieval instead of the proposed two.

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