Informally speaking? yeah sure. Discussing the relative benefits of natural forms of locomotion? absolutely. Designing the entrance of a building? I should consider that not everyone is bipedal.
I would submit that the question if humans as a species are bipedal is not concerned with the question if any individual specimen happens to have two legs.
(This is not meant to imply that no consideration should be given to the exceptions, which quite reasonably it clearly is.)
I agree which is why I phrased my answer the way I did (apologies that I wasn't very clear about that), but I don't think the claim is really analogous to "2 sexes, male and female. Simple and true." (not that you claimed that, just what someone above us said). The equivalent claim would be something like "humans are a sexually dimorphic species" which I think is of course true.
All to say, I don't really care much about these claims in isolation, I care when someone says e.g. "there are two sexes, so we shouldn't let trans people transition". Those conversations are a context where edge cases, caveats, and complexities all play a huge role.
(This is not meant to imply that no consideration should be given to the exceptions, which quite reasonably it clearly is.)