"Matching the dexterity" is a false goal. It's focusing on the wrong things.

As teleoperation readily shows, even a very dumb primitive hand can be salvaged if you get a very advanced control policy to drive it.

Sure, it would still take a lot longer for a well tuned robot with just a pair of UMI-style grippers to tie shoe laces than it would a practiced human. But a robot doesn't have to work faster than a human. "It can do the same task for cheaper" is often good enough.

The right thing to focus on is: AI. We already have robot bodies that are good enough to do many economically valuable tasks. We don't have the AI that would make those bodies perform to their potential. Modern robotics is an AI problem above all.