I did read it, and I found it so lacking that it baffles me to see people actually believe it to be a well-crafted argument.

Again: we can't even make a universal robot work in a sim with perfect sensor streams! If the issue was "universal robots work fine in sims, suffer in real world", then his argument would have had a leg to stand on. As is? It's a "robot AI caught lacking" problem - and ignoring the elephant in the room in favor of nitpicking at hardware isn't doing anyone a favor.

It's not like we don't know how to make sensors. Wrist-mounted cameras cover a multitude of sins, if your AI knows how to leverage them - they give you a data stream about as rich as anything a human gets from the skin - and every single motor in a robot is a force feedback sensor, giving it a rudimentary sense of touch.

Nothing stops you from getting more of that with dedicated piezos, if you want better "touchy-feely" capabilities. But do you want to? We are nowhere near being limited by "robot skin isn't good enough". We are at "if we made a perfect replica of a human hand for a robot to work with, it wouldn't allow us to do anything we can't already do". The bottleneck lies elsewhere.