I hope so at some point, even if I have to jailbreak it. Apps like pandora are useless IMO. Who wants to sit there staring at it? Needs to be able to run in the background while you are online.
If I remember correctly the issue causing apple to charge for iPod touch upgrades was fixed/changed so that they can be free from then on. That would/should include the iPad. 4.0 and beyond unless Apple wanted to charge for it but I doubt that would happen cause it would fragment the app store between those that updated and those that didn't.
Of course this is all speculation until apple tells us how it will really be.