I guess the counterpoint is that human houses are designed for human-shaped things to move around in, and the ideal helper robot would be able to interact with doors, cabinets, stairs, appliances, and tools as well as a human can. And those things have all been optimized specifically around being used by a human. So, whether or not people would prefer a helper robot in humanoid form, it’s the path of least resistance in many ways.

That’s not to say there aren’t engineering solutions to that problem, just that it makes sense from a purely utilitarian perspective.