In an interview with British GQ, Robert Downey Jr. joined Holland to talk shop about shooting their first scenes in Captain America: Civil War. After Downey Jr. used his quirky explanation on beekeeping and going down a K-hole, he was asked if he would ever join the MCU again. His answer: "Well... I have alighted, for now. Real world to save. But never say never."
So what does this mean? Well, probably what he means: that there are no plans ... for now. Downey Jr. was a huge presence in the MCU, but he's also a sought-after actor in other avenues, as well. He wrapped up Dolittle in 2020, and All-Star Weekend and Sherlock Holmes 3 are in production.
Downey Jr. is a force to be reckoned with, but he's pleasant at the same time. He also has a mysterious air about him, which means that fans probably won't see confirmation of any shred of hope of Downey Jr. reappearing in the MCU until Disney wants it to happen. Who knows if there will be a prequel or an appearance in another universe under the Marvel umbrella — fans can only hope they will see more of Tony Stark and his overconfident sass.