>automated rubbish disposal can be integrated into houses and flats, grocery delivery and storage could be done via an automated intake, cataloguing, and storage system

This is a complete non-starter for already-built apartment blocks, terraced homes, and even most semi-detached. It's an interesting but costly solution for new detached homes.

Humanoids are a useful form factor because the already-built human world is, definitionally, built for humanoids.

Doing what's ethically right rarely means taking the most convenient path. Fridges and pantries take a considerable amount of space in our homes. These could become part of an automated storage system.