Chinese Unitree already makes humanoids for $5K. Cheap enough for average american family to afford if it's useful. Several batteries and automatic replacement station will make it run 24/7 non-stop.
So, it terms of cheap capable hardware we are close. The problem is software and computing power.
That is interesting, but it looks like the ones used for practical work are $30k. Still, they're targeting 20k units this year, which is a lot more production and a lower price than I imagined they'd be at by now.
At least it's obvious we are close to have cheap mechanically capable robots. As soon as they get smart enough to be useful mass production will begin. We are almost there. (Un)fortunately China is leading here. With all production there it will be hard for US companies to compete. Especially outside of US market.