Yes, single purpose robots like washing machines and rombas are much better value and hence much more common. But if I want a sandwich in bed, that is either way more pre planning then I actually did; dozens of simple machines; or something much closer to humanoid.

We're never going to get to the point where everyone has a robot manservant making them breakfast in bed. That may well be a product, but you don't need billions of those, but thousands.

The pitch for the billions of humanoid robots is replacing workers, and in that context, the humanoid shape doesn't add much, and in such an economy, the replaced workers aren't going to be splurging on domestic robots.