Yeah, the machines now are performing unnecessary intermediate steps, or rather I should say could perhaps perform extra steps that overall would make the design of the machines easier.
What we want long term is a machine that does all the work, e.g. that can spit out requested items and which when returned to the machine will clean and store them (the same idea works for any of clothing, cutlery, tools, shoes etc).
Why should I have to take the folded clothes or washed dishes and go pack them away? Won't it be easier if the machine just does that for me? If I want a glass I just browse the stored inventory and it spits out my requested item.