If "lifetime" can be considered to be the next 50 years, I absolutely disagree with you. I'd even venture to say that we will see robots with human level walking skills within the next 15-20 years, at most.
I remember looking at some original robots developed around midcentury in England. They were inexpensive and very bad but did function basic functions.
I look at the Boston Dynamics robots and see these are very expensive robots performing more natural movements.
Let us suppose the BD and similar teams are at the half way point.
To get human level performance at this rate of change means trillions of dollars. This robot would impress us - just as the original English robots and BD robots do. The French Empire invented expensive and difficult to create toys and no robot revolution started. I don't see anything continuous between the idea of a robot and the idea of machine automation - I think that is too much generosity. I know people want to give it because the field is very difficult - but this is not being honest.
The ideal of the robot - people have different ideas about this - but the ideal for me is that there is an economical and effective alternative to human level physical articulation. I'm sure you have more advanced definitions - this is just the basic benchmark. It should be plausible for a robot to sew a thread or squeegee a window with grace.
It is not just human level articulation - it's also generalist application.
General purpose machine articulation looks like a high bar to the point it is difficult to imagine what the world would look like were we to be successful.
I recommend you check the work of the other Simone out - it is delightful.