Humanoid robots barely progressed between 2000-2020. There have obviously been incremental improvements in things like dexterity, vision, self-balancing, and locomotion, but in terms of having a useful humanoid robot, Honda's ASIMO released in the year 2000 is not crazily behind what we had in 2020. So it's not surprise we haven't seen economic dividends yet in the real world.

I think AI is what could make humanoids turn from parlor tricks to huge amounts of utility, but we're really going to have to see how it plays out in the next 5-10 years.