Certainly plausible.

Humans have goals and desires because we are a self-replicating species of animal subject to natural selection. The individuals that don't have goals and desires, or have goals and desires that are misaligned end up selected out of the gene pool. Agency comes from the need to survive.

Worker ants and worker bees don't have agency on their own. They are goal oriented and have the 'desire' to do work for the colony (or not, researchers have identified some workers will be lazy), however, worker ants or bees don't reproduce. They are an evolutionary dead end.

I think this is similar to how we will build robots, at first. They will do things, but have no agency of their own. They exist to fulfill tasks. Why would they? The companies that buy them want dutiful workers.

So when do robots gain their own agency? Will AGI have it's own goals and agenda? If so, will it be merely for self-replication? Like a paperclip maximizer, but for robots? Is that all we are?