Yes, ideally humans go extinct sooner than they would have without AI - ideally through just slowing reproduction to zero and self isolating like the Neanderthal. If the human population reduces to 1-2B over the next century that would be a massive win.

Humans spreading to other planets, beyond it being energetically inefficient, would be a worse outcome for the universe than if we went extinct.

Humans (and all existing life including all mammals) are fundamentally flawed at the core and cannot get to a point of coherence that is worth expanding.