The xiaomi-robotics-1 concept is but one that seems very doable and very near term.
Something to get the laundry from each room, wash, dry, fold, put away.
Cut and cook ingredients then do the dishes.
Mow the lawn, water the plants and do basic weeding etc.
Maybe even climb a ladder to empty the gutters / clean windows.
A non-humanoid will never be able to accomplish that without dedicated implements.
I really look forward to that, even if the first versions can't clean the gutters...
It won't be going up stairs or over lawns.
It won't be dusting into the corners of rooms.
If the end goal is something that can do everything a human can do, it'll have to bare the form of a human.
I'm starting from the assumption the vast majority of people won't want a robot in their home, even just on principle. Then most people will not need it to do every possible action an human does.
For the remaining people in the target, having adapted/compatible cabinets or furniture is probably less of an issue. If someone requires assistance for instance, they'll probably also don't want hard to access shelves or crazy weird stairs.
The same way people have started choosing furniture that can accommodate a roomba(RIP irobot), we'll adjust our newer homes to whatever makes sense when we get the next wave of home robots.
Except it won't happen, so the amount or people wanted a pretty flawed and compromised yet expensive robot will be pretty low.
Many people will want full control over what happens in their house, and potentially feel unsafe having things that move on their own. Where's the line is for "full control" will be personal.