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.