Humanoids will be amazing when they get here, but I think there are a lot of challenges between now and then - hardware alone is very challenging - add a ton of sticky mud and it’s going to be complex even if the software works.
i had to look up whether stuff like mini excavators use control-by-wire/CAN bus or if the controls are actually mechanically operating valves, to determine how hard it'd be to just throw a lil computer connected to the CAN bus to autonomously operate equipment. it seems like newer and nicer models are control by wire, and older ones have joysticks and pedals that directly open and close hydraulic valves.
i looked this up in a "cost of humanoid robot" versus just doing a retrofit on a computer/actuators on older equipment. i think even in the actuator approach, adding 12 electronically controlled hydraulic valves to replace the human actuated valves is still gonna be cheaper than a humanoid robot