The robotic missions would provide the most info, because none of the payload would be fuel for the return trip, food, water, medicine, bandaids...
Also, the robots can stay on the surface for years.
Individual people could rent a robot for a specific amount of time. These robots would be controled over the internet and this would allow people to perform their own explorations.
Discoveries by individual citizens would be considered their intellectual property and royalties would be awarded to them.