> almost certainly suboptimal.

I agree from an engineering and cost perspective that matching the embodiment, degrees of freedom and performance to the use case tends to be optimal. But entertainment, fun and inspiration can also be economically valuable use cases - even if less common.

That said, there are use cases which require navigating environments built for humans and the adaptive flexibility to perform unpredictable tasks as a human proxy. And those robots will probably be broadly humanoid shaped.