I wouldn't be so categorical. There might be some applications, or combination of applications for which a humanoid form factor would be useful. It's just that for most applications, more specialised forms are better suited.

Exactly. Existing paths, entryways, factories, etc. are human-sized and -shaped (or car, or other vehicle).

Only once you build greenfield, e.g. new factories, making specially shaped and sized robots for automation jobs becomes worth considering, IMO.