Stairs, doors, tables, chairs are all designed for humanoids; the will be large similaritys with the optimum form just as horseless carriages still have four wheels.
For moving objects between locations there are much better solutions than building a humanoid robot and having it carry the thing. And it's not like they'd need to go home after their shift.
The pitch for the billions of humanoid robots is replacing workers, and in that context, the humanoid shape doesn't add much, and in such an economy, the replaced workers aren't going to be splurging on domestic robots.