Yes, sometimes that's all it takes.
> A broad variety of serpentine and continuum robots have been developed for minimally invasive surgical applications.
Soft robotic grippers are also interesting because they allow you to grasp objects without complex touch/force sensors.
> With their ability to shapeshift and manipulate delicate objects, soft robots could work as medical implants, deliver drugs inside the body and help explore dangerous environments.
YET
Just because we have not YET seen one does not mean it should not be pursued.
Examples are endless, start with: 30 years ago, no one had seen a solar panel with 25% efficiency produced for less than $1/watt. Now, it is the most economical and fastest-growing and most sustainable energy source on the planet.
That argument is simply an argument against all efforts at making progress. Perhaps rethink making it?
We do have subsystems that might qualify though (neck, spine, tongue, nether bits).
Hence soft robots. They're safe. Also useless.
Grow some imagination
> That's one reason humanoid robots won't sell.
Speak for yourself, there'll be one in my household as soon as they're commercially affordable.