We’re already seeing huge progress in humanoids coming from china. The big problem is software and world understanding, but the data collection from today’s humanoids and the rush to capitalize on their potential now that manufacturing their form is largely solved (save for hands) will see these problems overcome.
I expect it will be common to see them make deliveries in five years. Regular people don’t have to buy them for them to see widespread use.
Deliveries use hands because humans have hands, not because hands are a prerequisite for deliveries. Last mile is already “solved” with the little robots that drive around cities, no need for hands. Humans are useful because of our brains, because we can adapt to almost any situation for very little cost. Humanoid robots will remain a novelty until the cost is reduced far beyond what is plausible.
How do we define common? I’ll bet that in 5 years, the average person, even in somewhere like SF, will not see a humanoid robot during their every day life.
So, after they work out all the mechanical kinks (there are quite a few!), and after they work out all the software issues (again, many of them), the last problem is the biggest: production. Anyone can make a half dozen robots by hand. A hundred thousand is a completely different challenge. If they can't be made efficiently, their cost makes them more of a toy than a tool.