OP mentioned a standard of being able to do 80% of human activities. You might need human legs to climb stairs, but then again, if you work in a building with elevators, that might be a pretty simple tradeoff to make.

> Or operate existing power tools? Or get teleoperated by a human with mocap gloves?

Requires grippers that can hold in a similar way to human hands.

> Or get into a generic car to get transported to a new workplace?

My dog can do this and traverse a flight of stairs, and she is decidedly not humanoid.