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Quantum-enhanced (i.e., higher performance by quantum effects than any classical methods) mean value estimation of observables is a fundamental task in various quantum technologies; in particular, it is an essential subroutine in quantum computing algorithms. Notably, the quantum estimation theory identifies the ultimate precision of such an estimator, which is referred to as the quantum Cramér-Rao (QCR) lower bound or equivalently the inverse of the quantum Fisher information. Because the estimation precision directly determines the performance of those quantum technological systems, it is highly demanded to develop a generic and practically implementable estimation method that achieves the QCR bound. Under imperfect conditions, however, such an ultimate and implementable estimator for quantum mean values has not been developed. In this paper, we propose a quantum-enhanced mean value estimation method in a depolarizing noisy environment that asymptotically achieves the QCR bound in the limit of a large number of qubits. To approach the QCR bound in a practical setting, the method adaptively optimizes the amplitude amplification and a specific measurement that can be implemented without any knowledge of state preparation. We provide a rigorous analysis for the statistical properties of the proposed adaptive estimator such as consistency and asymptotic normality. Furthermore, several numerical simulations are provided to demonstrate the effectiveness of the method, particularly showing that the estimator needs only a modest number of measurements to almost saturate the QCR bound.