Updated 11/22/2019: The Wrap has reported that Robert Downey Jr. will not be appearing or voicing Iron Man in the animated series.
Fans wanting to see Robert Downey Jr. return to the MCU will only have to wait until summer 2021 for the animated series What If…?.
In a Buzzfeed video where he’s answering fan questions, Jeff Goldblum says he did an episode of the show as Grandmaster, which also features Iron Man:
“I played the part again a couple of days ago. I went to the Disney studios and I recorded the Grandmaster’s voice for an episode of a show that’s gonna be on Disney+ that’s called What If…? It’s an animated version of all the characters we know and love from Marvel. And this episode included the Grandmaster and Iron Man, so Robert Downey will do a voice for that, and Korg, Taika Waititi had already recorded his voice for that. So yeah, for a couple hours I enjoyed doing that again, so, and the Grandmaster as well.”
If RDJ is returning for What If…? that could also open the door for other cameos in the future such as in the potential Ironheart series that’s in development.