The bandwidth to stream video from mars simply isn't available. Once it's landed, perserverance must lock onto sattelites orbiting mars in order to send media back to earth.
Actually, Percy has her own Mars-to-Earth radio. It's that the high bandwidth is UHF to MRO, MRO to Earth usually (as I understand it). My guess is they probably could manage a few FPS at low resolution directly from Percy - but probably wouldn't do that for power reasons. https://mars.nasa.gov/mars2020/spacecraft/rover/communicatio...