I'm not convinced safety is solved: given how often LLM's hallucinate and automated cars get confused, what happens when something unusual happens and the robot thinks a person's arm needs to be "folded" and breaks it? Or a person's clothing looks like the wall and a robot tries to move their arm through a person's chest?

Sure, for each individual situation one can imagine a safeguard but being in close proximity to unpredictable humans means there are unlimited edge cases... if a humanoid robot is strong enough to do something useful it is also strong enough to be dangerous.