I think one major draw to human-like for factors is the reuse of existing ecosystems and tools. If you have human-like grasping, you can reuse tools and utensils for human hands, otherwise, you need custom attachments. If you have human-like legs you can navigate stairs, wear pants for customization, and possibly operate a car or bike.

Its a bit like choosing JS / python -- of course performance is inferior to a compiled language with highly tailored code, but they are flexible and have an ecosystem that might do 99% of the lifting for you.

But in isolation, I agree with your idea that specialized robots with form fitted specifically to task will likely outperform a more generalized solution in a specific domain of behavior, the more generalized will likely outperform in flexibility and reusability (e.g. capable of reusing the human ecosystem).

I think it’s less about tools and more about the spaces that humans operate in.

You don’t need a human-like hand to hold a tool made for humans. As an extreme example, you can make a robot operate a power drill with strap to hold it and a servo with a small bit of wood to operate the trigger mechanism.

But for a robot operating in a space made for humans there certainly are some physical requirements which are based on the human form: maximum volume and clearances, stairs, fragile fixtures that can’t be operated with too much force, etc.

Ever walk through some over-crowded antique shop where you need to twist and lean your body to avoid knocking into thing?

There are a whole lot of tools intended for human use that I would use much more effectively if I could rotate my wrist repeatedly in the same direction.

Reuse tools to do what? Touch type on a mechanical keyboard?

What makes human hands especially suitable for e.g. assembling a phone or installing a door handle onto a car?