I'm basing my opinion off the demonstration Tesla did where they were remotely operated, and footage of that event. I'll admit I'm not up to date on the development details. Do you have a recommended and trustworthy source for more info? (I don't consider Elon to be one, as he makes bald-faced fantastical lies on the regular.)
The Tesla YouTube account has videos of Optimus folding clothes (and doing various other tasks) while operating in autonomous mode. I think their latest iteration of the hand is incredible, and a good summary of how they are going all in on general purpose functionality.
Currently you're better off hiring the person piloting the awkward robot to fold your clothes than having them pilot an unnecessary robot.