We have Google, Figure, Tesla, Boston Dynamics, and literally dozens of Chinese companies building humanoid robots and making huge improvements in the tech. Not there yet by any means as a general-purpose home assistant, but I don't think it will be too surprising if at least one of them succeeds
It will take a while before humanoids become useful. You can speed it up with extreme amounts of investment but it still wouldn’t be soon.
I'd say 10 years before they're a luxury item, if you look at what has progressed in the past 10 years it's been massive