Touch sensors are a thing. A spin off[1] of a company I used to work for uses pressure sensors embedded in rubber to get a pretty robot and sensitive sense of touch, though the granularity is low and it doesn't do lateral force.

[1]https://www.takktile.com/

Yes, quickly skimming your linked site, I saw Pressure, Force, and Vibration sensors, but as you mention no mention of lateral force, nor of temperature.

Thinking briefly about the sensations used in manupilating tools or checking a surface, both lateral and temperature are hugely important.

And, of course the insane density of sensors built into human fingers relative to anything built by humans.

It has a looong way to go