That is a truly terrifying future to imagine. Fortunately I would hazard to guess the medical technology to accomplish something like this is very, very far away. Not only because of the raw technological challenge, but also the barriers to development that scientists, doctors, and engineers would face before even being allowed to conduct experiments.
I do agree though the humanoid form is a dead end for robots. Just build giant cubes that process inputs and give outputs, like a dishwasher. Why wash dishes with meat wand tentacles or try to recreate meat wand tentacles when you can accomplish the job in a wholly different way with far greater efficiency...?
Where's the clothes foldeing cube? Analogous to the clothes washer and clothes dryer.... the clothes folder...
Why stop at dishwashing...? Sell an entire integrated robotic kitchen.
Dedicated machines can obviously solve an issue more efficiently, but it’s still good to have a machine that can do most things adequately.
As an example, you can have an automated washer, dryer, and folder, sure. But what if you wanted to automate the retrieval of dirty laundry and the delivery of clean laundry ? That would need to be some sort of robot to travel throughout an environment (fit through human sized areas, open doors, walk steps) to collect and deliver things. And if I have a robot roaming around the house, I would prefer to just buy one robot that could do many things rather than have to buy it to just collect things and more expensive machines as well.
I think the only real barriers are ethical. I'm pretty sure we'll figure out to do a completely synthetic biological robots without any kind of biological brain in the next 10-20 years, and they don't even have to resemble animals or humans. This should alleviate some of the ethical issues.