Obviously both will exist and compete with each other on the margins. The thing to appreciate is that our physical world is already built like an API for adult humans. Swinging doors, stairs, cupboards, benchtops. If you want a robot to traverse the space and be useful for more than one task, the humanoid form makes sense.
The key question is whether general purpose robots can outcompete on sheer economies of scale alone.
I agree that each would be made slightly better with a more integrated system. But you could handle all of them in my hundred year old house with the form factor it was designed for: a humanoid. Probably pretty soon here for cheaper than each could be handled separately by more integrated systems.
For new builds, a laundry/utility room that includes the dishwashing and other "housekeeping" facilities is a no-brainer when there is a custom robot built to use those facilities as well as maneuver around the rest of the house.
For old/retrofit renovations it also makes sense, but otherwise, yes, a human-form robot makes sense.
The question is which is a better investment for any robot manufacturer in 2026?