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If the past is any indication of the future - Yes, they will. One of the first uses for any new technology always seems to be pornography or sex related.
Which means there are going to be barely lifelike robotics dick holes in homes across the earth, all filled with a sticky protein soup of jizz and god knows what else. The smell is going to be horrible. The faces of the robots will scream, "Kill me. Please kill me."