Fusion creates heat, not electricity. Turning that heat into electricity is not costless, and puts a lower bound on the price of fusion energy. So we're never going to get "nearly limitless, clean, cheap energy" from fusion.
But we do have a great upcoming source of cheap energy from the big fusion reactor in the sky. Solar power has been dropping in cost 80% per decade for the last 50 years, and that looks to continue for at least the rest of this decade.
There are ideas and projects aiming to go straight from fusion to electricity, maybe through photoelectric effect but without the water heat cycle. Those may be orders of magnitude harder than "normal fusion" but still - people work on that.
But we do have a great upcoming source of cheap energy from the big fusion reactor in the sky. Solar power has been dropping in cost 80% per decade for the last 50 years, and that looks to continue for at least the rest of this decade.