Suitably cheap labor and the opportunity to hire them has almost never not been available, but industrial-society middle class people who could otherwise afford it long found it to be a luxury to indulge in only occasionally (family pizza night, a cleaning service before the big party, etc) -- not because of unavailability or inaffordability but because class-culture norms acknoweledged it as irresponsible, wasteful, and foolish.
It would be embarrassing largesse to have somebody make a $7 iced coffee and then have somebody else deliver it for another $5. It would be like going to the grocery store in a tuxedo. You might be able to afford it, you might own a tuxedo, but it was just seen as sort of an absurd class theater.
Those norms have changed radically in the last couple decades, and not just on this matter.
And immigrant slave labour has made it all affordable.