Right back at you with the citation needed. Humanoid is not a taxonomic term anymore. All Homo are humans. Never said modern, which it obviously isn't.
> Although some scientists equate the term "humans" with all members of the genus Homo, in common usage it generally refers to Homo sapiens, the only extant member.
There's no citation for that claim and it would be unlikely for there to be one.
It's just some dude's personal impression about a subjective matter (a word in transition), and carries no more weight than any other comment being made here.
A more meaningful source would be a usage guide like Garner's Modern English.
Actually, it is cited. The fragment you quoted is from the lede, which is supposed to summarize the rest of the material. So if you read on to the section "Etymology and definition", you find that the same claim is cited to Merriam Webster.
As it happens, this citation is useless, because it doesn't support the claim. Basically, I think it's fraudulent to cite that claim to that MW article.
I feel like this is peak HN pedantry, but it seems like there's some controversy amongst anthropologists these days as how to sort of colloquially define human; I've heard some say that any species in the genus homo should qualify.
"Humanoid" refers to anything with a human body morphology (i.e., bipedal, two legs, two arms, head). That can be actual humans, human-looking robots, bipedal aliens with bilateral symmetry, or even Barbie dolls I suppose.