I've used, but don't currently own, a Cafelat Robot (https://prima-coffee.com/equipment/cafelat/robot-barista-gre...)

The Robot made great espresso, and I was just about to buy one for myself but then the Meticulous Espresso machine (https://meticuloushome.com/) was announced on kickstarter and I splurged on that instead (deliver by end of year, or so they say.)

If for some reason that doesn't work out, I'll get the robot