Even if specialized robots were at parity with specialized people (they are not in dimensions like dexterity), the big thing missing is the flexibility. You can on the fly change the production process, humans will be able to accommodate the changes (not at perfect speed, but still). For specialized robots you need stop and reprogram them.
I don't know why people think that legs automatically make everything more flexible. It boggles the mind.
Look at real flexible manufacturing systems to see how much of a bullshit idea that is: https://youtu.be/gUvE2eFH6CY
Everything is transported via the central stacker crane that is directly connected to every machine. You don't need legs. This just leaves the arms and here is the thing, you can just have two robot arms in the same robot cell and call it a day. The humanoid form factor adds nothing.
Also what makes you think you don't have to program the humanoid robots? Again, everyone seems to think that if you build a human shaped robot, human level intelligence will automatically come as a result of the shape of the robot. The moment you remove the head, the intelligence vanishes.
