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Building a robot that can fix or replace all existing pipes... Very long time.

Now if we redesign whole housing construction and accept some trade offs, maybe 20 years in new construction.

Some kind of humanoid or canoid robot? It’ll need dexterity. Doesn't even have to be symmetrical and have interchangeable tools at the extremities.

True, but we can give it long arms and an endoscopic camera, so it might even be an improvement.

For re-plumbing a home, 2 piece robot, 1 to dispense the pex while the other rides on it to anchor it at its destination and cut the old pipe out and retrieves the piece to be discarded at the nearest safe point.

Then the dispenser scoots up, cuts the pex, and connects it, possibly with some epoxy or a 3d printed connector or both.

Rider robot uses lidar to plan next path while that is going on, until both robots arrive at their destination. Minimum of sheetrock repair needed, quick and easy, should last 15 years or so.

$100 million and a team of dedicated and passionate engineers with the sole goal of seeing that come to fruition could pull it off in 7-12 years, maybe less depending on the number of geniuses you luck into.

Loooooong time

20 years after the singularity