Hair is much worse in that regard, as the tail would be positioned too low to practically grab (it would asking for a knee to the face or punches to the back of the head or spine if you tried). I think the driver is more likely to be bipedality. A tail doesn't provide a lot of benefit for balance or rearside whisker utility when moving on two legs, and would interfere with sitting and lying postures. I think humans are probably too large for practical prehensile tails too.