have we ever gotten out of uncanny valley for anything? like, did we finally learn to make non-cringeworthy human-looking robots? or do they still have this weird look they did 20+ years ago that you're able to tell in under a second

If we did, you wouldn't be able to tell ;)

I think we have made a lot of progress in the area of computer graphics - most action movies you watch now contain some level of CG characters or digital makeup that is very believable.

But really the point I was trying to make is that people become more discerning the closer something comes to being human-like, and that feeling masks the reality of the progress.