Rodney Brooks (of iRobot fame) wrote an essay recently about why humanoids are likely decades and not years away from fulfilling their promise. It is quite long, but even a gpt summary will be quite valuable.

https://rodneybrooks.com/why-todays-humanoids-wont-learn-dex...

In short, he makes the case that unlike text and images, human dexterity is based on sensory inputs that we barely understand, that these robots don't have, and it will take a long time to get the right sensors in, get the right data recorded, and only then train them to the level of a human. He is very skeptical that they can learn from video-only data, which is what the companies are doing.