With more motors and joints also comes some degree of redundancy however. Having multiple fingers means one finger dying won't be as big of an impedement. It'd require feedback and the ability for the motion planner / AI to account for it.

Plus they'll likely be modular and able to be replaced.

IMHO, the bigger design issue for humanistic is lowering the need for mechanical precision which requires lots more metals and instead using adaptive feedback and sensors to obtain accuracy similar to how humans and animals do it. AIs should be really good at that, eventually. I think the compute will need to be about 10x what it is now though.