Rebuilding and replacing tools doesn't sound that big of an issue to be honest.

I'm starting from the assumption the vast majority of people won't want a robot in their home, even just on principle. Then most people will not need it to do every possible action an human does.

For the remaining people in the target, having adapted/compatible cabinets or furniture is probably less of an issue. If someone requires assistance for instance, they'll probably also don't want hard to access shelves or crazy weird stairs.

The same way people have started choosing furniture that can accommodate a roomba(RIP irobot), we'll adjust our newer homes to whatever makes sense when we get the next wave of home robots.

Just have to be compatible?

The xiaomi-robotics-1 concept is but one that seems very doable and very near term.

https://robotics.xiaomi.com/xiaomi-robotics-1.html

They need a way to get onto counters, climb stairs, manipulate objects, et cetera. But all of the necessary capabilities do not need to be self-contained. Humans achieve their amazing flexibility through tool use, and so will robots. And in many cases those tools will be other robots. One robot could boost another onto the counter and then they both could get out of the way, unlike a robot large enough to reach up to the counter.

> once they can be made to quietly jump on to a counter, like a cat.

That would be cool. But also a little scary if it has an onboard AI which, based on it's embodiment, decides to develop a cat-like personality. Pretty sure if my cat had a better world model and long-horizon planning, it would kill me in my sleep.