I don't see these being used outside of high earning households in gated communities. The same humans being exploited for their labor, whose earnings are hoovered up by the ultra-wealthy, barely have the discretionary income for food and clothes.

It's that old tinfoil hat theory that the Jetsons and the Flintstones took place in the same point in history, the Jetsons were in the sky with their mind-bending technology, all their needs met, meanwhile the Flintstones are down on the planet, working menial jobs wearing and eating literal scraps.

The common man will never see a household robot, that is unless they cobble together enough components that have been discarded by the haves to be used by the have-nots.

To the point of your statement, humanoid robots will certainly fill lots of niches, it'll be fascinating to see what becomes prevalent first: menial labor, agentic-type household assistance, tutoring the kids, walking grandma across the busy intersection, sex tasks, etc.