I'm describing all of them.

As for chicken nugget here's for example one (company) showing same capacity 4 years ago

https://youtu.be/6SbpfN5ed38?si=srtdZCdKOdPZ_wRn

They today have similar system that can quickly sort dumplings (more sensitive than chicken nuggets) ob conveyor belt.

No sim2real even needed. That haptics sensor is dirtcheap; camera based haptics sensor are today even available as open-source hardware that you can assemble for cheap.

If we don't limit to company demos we can dig up demos from I think almost a decade ago, and at least ~5 years ago for company demos.