I can kind of see that, in terms of robot pets or sex robots. Clearly robot pets are going to be more marketable. Sex bots will definitely be a weird niche, until some very revolutionary (if not scary) breakthroughs happen.
Boston Dynamics seems to be making a much broader business case than just lonely people. For instance warehouse workers, factory workers, bartenders, dangerous jobs, interplanetary explorer, etc... There are a lot places where such humanoid robots can end up, which is way beyond a "lonely" people market.
I feel exosqueletons are a more interesting approach anyway. Maybe robots would do less errors but I don't know, most of the times I tried an AI it would understand most of what I asked but if I would miss to precise some details but it would still do the job while an human would ask for more precision on the request.
I would hate my robot to break stuff or put stuff in shelve C while I wanted it in shelve A and have to ask him again. Sure sometimes human workers also assume things instead of asking for more precise direction but I have the feeling we are more easily puzzled while an AI seems to be trained to be overconfident in order to be useful.
Loneliness is arguably the biggest under-addressed problem in the wealthy developed world.