> The simple fact that I have to write every control scheme ...
Look three years ago for a reality check of the progress. The LLM you're using now isn't the LLM you'll be using in 5 years. It probably won't even really be the same architecture, just like those from 3 years ago are VERY different than the full systems we use today (harnesses and all). What you're doing was literal science fiction not long ago.