Humanoids are the Turing machines of physics.
They're Mediocre at everything, and worse than a dedicated machine at almost every task, just like a CPU is worse than an ASIC. However, they adapt to new tasks quickly. This decreases ownership costs (you only need one humanoid, not one machine per task), as well as manufacturing costs, as you can make one design and spend a lot of R&D money on scaling that design.
There's no reason why an ideal body needs to have such a high center of gravity though? Clearly we are wasting a lot of energy and capacity to maintain that balance. I am pretty the ideal body is actually a spider.