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This answer to Why aren't satellites launched into a Polar LEO to get into Polar Heliocentric Orbit? leaves me wondering if it could be done today without the trip to Jupiter.

Could a replica of the original Ulysses spacecraft be put into its 79.11° inclination heliocentric orbit directly from Earth by any launch vehicle currently available?

Here "directly from Earth" means not going to another planet first.

If not, could this be done with something likely to be available in the near future?

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