This is a little off topic, but are rare earth minerals something that could be mined from asteroids? While the idea of humanity becoming an interstellar speci

This is a little off topic, but are rare earth minerals something that could be mined from asteroids? While the idea of humanity becoming an interstellar species as depicted in sci-fi seems pretty far off to me, it seems like asteroid mining via drone could be viable in the near future if the incentives were right.