If you are talking about human-made objects, the Voyagers satellites have already left the Solar System, with Voyager 2 leaving just a few weeks ago. We are still getting signals from the satellite even now and we hope the signal sender will work for a few more years!
If you are talking about humans though, I still think we can leave one day. The trip would require preparation like no other and we have to accept spending at least a generation or two entirely on the spacecraft. I suspect we won’t do this unless 1) the entire solar system is in grave peril or 2) we advance enough to be an intergalactic species.
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