I think we can learn the rules, and use them to manipulate our world... but understand it... no.

We might come up with clever metaphor and analogy to visualize what is happening but it will be Plato's shadows on the cave wall.

We are already at that point... quantum mechanics is too far removed from our notions of reality our brains are wired for... humans to their credit have powered through in understanding the rules, and exploiting them. There are brilliant minds that have profound grasp of the rules and intuition about what those rules imply... but I doubt any of those minds would have the conceit to claim they 'understand' QM.

Yet the weird thing is that no one actually understands quantum theory. The quote popularly attributed to physicist Richard Feynman is probably apocryphal, but still true: if you think you understand quantum mechanics, then you don’t. That point was proved by a poll among 33 leading thinkers at a conference in Austria in 2011. This group of physicists, mathematicians and philosophers was given 16 multiple-choice questions about the meaning of the theory, and their answers displayed little consensus.

We use QM in nearly every aspect of our lives, we know the rules well...
But what does it mean?

If humanity survives a few more millennia I think we will learn the rules... but understanding them will require us to become something other than human....

That's just my opinion of course...