You pretty much excluded the two major possibilities. The primary issue is the massive distances involved. With this in mind, the only way to effectively travel is by either bypassing the normal restrictions on acceleration and velocity via some kind of warp or hyperspace travel, or by effectively shortening the distance you need to go, most likely via some form of controllable wormhole.
There is always the possibility of an ARK ship. You would travel the full distance at sublight speeds, with each trip taking as long as several centuries. If we can't figure out some kind of safe stasis or cryo storage, it would likely be the descendants of the original voyagers that disembark. But this method does us little good. We might be able to establish colonies this way, but would not be able to trade with, assist, or even effectively communicate with them (imagine waiting 55 years on a request you sent in for a status update, or perhaps getting to listen to the screams of the dying colonists as a disaster that was long over several decades ago plays out).