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A gantry may not be required in the future. A gantry is used because it greatly simplifies the problem. The gantry allows a fixed known relationship between the print head, the ground, and what is being printed. A simple 3D printer can work completely blind.

But this need not be the only way to 3d print. It's pointless to have a mobile 3D printer for desktop printing applications. But construction? The case may be different. Imagine a swarm of small robots, each a small cement mixer and print head. Hell, as absurd as it sounds, little flying printing drones might turn out to be a viable solution. The tech required for these is way beyond what is needed for a conventional fixed 3D printer. But it's probably possible. You don't set up a huge gantry for your giant house-sized 3D printer. Instead, you unleash a swarm of printing bots onto a construction site. They build up the house like bees assembling a hive from their own wax.

Now you might wonder if this could ever be financially viable. A swarm of printing robots? Well, historically, nothing changes technology faster than war. War forces innovation by necessity. Countries are getting really good at making absurd numbers of high quality robots cheaply.

For example, what's going to happen to all the Ukrainian drone engineers once the war ends? Sure, some will stay in the defense industry, but peacetime defense budgets are always lower than those of a nation facing existential war. Imagine the minds that are currently inventing drones that can fly a hundred miles and autonomously hunt down and kill individual enemy soldiers. Apply minds like that to the construction automation problem, and suddenly a lot of doors open up.

You need to use your imagination more. A robotic construction site will not look anything like a human one. Bags of readymix concrete have the form they do because they are intended to be carried by a human being. But the goal isn't to get a bag from point A to point B. The goal is to get the concrete from point A to point B. Instead of a humanoid robot carrying a bag of readymix, imagine an automated hopper on the end of a crane, with a computer vision and reasoning system that allows it to precisely place it where it needs to go. And instead of that concrete being formed by a humanoid robot holding a trowel in its hands, it will be mounted on a robotic arm mounted on a glorified roomba.

When we automated car factories, we didn't do so by making millions of mechanical men. Construction will be no different. Individual humans are not masters of every construction trade. Why should we demand the robots be masters of all trades? We can simply purpose-build robots for particular construction tasks. Builders wealthy enough may own a fleet of them. Smaller operations will rent them as needed. Just replace the cost of hiring subcontractors with the cost of renting a particular trade robot.