I am not working in that field, but as an outsider it feels like the industrial robots doing most of the work on TSMC's and Tesla's production lines are on the contrary extremely advanced. Aside from that what Boston Dynamics or startups making prosthetics came up is nothing short of amazing.
If anything software seems to be the bottleneck for building useful humanoids...
Basically, it is 1000x easier today to design and build a robot that will have a conversation with you about your interests and then speak poetry about those interests than it is to build a robot that can do all your laundry, and that is the exact opposite of what all of us have been told to expect about the future for the last 70 years.
On the bright side, it is looking more and more like terraforming will be possible. Probably not in our lifetimes, but in a few centuries time (if humanity survives)
Barring something like fusion rockets or a space elevator, it's going to be hard to really do a whole lot in space.