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It solves the problem of not letting random strangers into your house.

And you think that a random stranger controlling that bot is less likely to cause damage on your property?

Even if the portal authenticates everyone... They'll still be one hack away from doing whatever they can to cause something to break for giggles

though you could probably blur/censor many details automatically before sending the images, which might be a decent enough solution to the problem

That's an interesting thought - optical character recognition and obfuscation to blur things like text on paper from a live feed.

Yes, I'm quite certain not having a person in my place will be less risky than having one.

You sometimes see the idea that if a security feature can potentially be defeated, that is equivalent to that feature not existing.

That's true for a small class of problems, but in general it just shows an inability to see nuance.