The RTG on the Curiosity rover produces 110w and has enough isotope for 14 years or something. It's some fancy multi-mission RTG JPL designed so that it'll do at least 7 years at 100W, so it can do the full suite of tests that the Curiosity is equipped for at least 10 years. Some of the low-energy stuff are good for 14 years, but now it's looking like the wheels on it won't even last that long.
Anyways they can produce solid-state seebeck RTGs that are scaled up from that to the 5KW range... but full turbine reactors would become waaay more efficient after it gets to size of a car. As for the political stigma of putting nuclear generators in space they can mitigate the risk by assembling the generators in cislunar lagrange orbits, far out of any real risk, and have the fuel rods brought up in several launches.
But yeah the maintenance of the nuclear reactor would need a crew full time. The VASIMR was more or less designed to be a solid-state engine that wouldn't need new metallurgy and minimum maintenance by using magnetic containment for all the reaction volumes. Having a crew around to babysit its power source would be defeating that purpose: