>automated rubbish disposal can be integrated into houses and flats, grocery delivery and storage could be done via an automated intake, cataloguing, and storage system
This is a complete non-starter for already-built apartment blocks, terraced homes, and even most semi-detached. It's an interesting but costly solution for new detached homes.
Humanoids are a useful form factor because the already-built human world is, definitionally, built for humanoids.
we ve stopped building infrastructure but we have to do it. Rail, car , electricity, fiber infrastructure developed quickly, yet we refuse to even plan for robotic infrastructure. We can't be stuck forever in the 19th century
Doing what's ethically right rarely means taking the most convenient path. Fridges and pantries take a considerable amount of space in our homes. These could become part of an automated storage system.