I am betting no. My reasoning: As an example, the Cybertruck, announced four years ago, has yet to be released (with initial release planned in 2021). With each delay, competitors like Ford and Rivian have the opportunity to develop more advanced and capable electric trucks, reducing the potential market share for the Cybertruck. Given that Tesla already produces several vehicles and should possess the necessary expertise, it is concerning that their top engineers are struggling to launch this new product. With such a large price tag on releasing the vehicle earlier, I would think they have every incentive to release as soon as possible, and the fact that their have been delays for an item with a larger market, demonstrates that developing hardware, even adjacent technological hardware, takes time.
Moreover, the market for a humanoid robot is not well-defined. If there is limited market potential, Tesla may not invest the significant capital needed to complete the project. Instead, it may serve primarily as a way to attract investor funds to Elon Musk's companies. Existing factory robots do not require a humanoid form and can be humanoid-like, as exemplified by Boston Dynamics.
Many companies are already producing high-quality robots, and it is unclear how Tesla can surpass them in both engineering and market share to sell more than $1 billion worth. If we consider in-home assistant robots, Tesla would need to outperform established companies like Boston Dynamics, which already have the expertise in controls and mechatronics to create various robots for different situations, and could much more easily pivot into home-assistant if there was a possible market. Additionally, the market for in-home assistant bots is much smaller than that of factory robots, autonomous vehicles, or the space industry. The question to ask is, who would be paying for in-home assistant robots? How many people could afford that?
Further, to be useful in space (as is a recommend application), these robots will need to reliable. I highly doubt SpaceX engineers will risk a launch on the reliability of these robots by 2023, when the cost of 1 human vs 1 robot is quite low in this situation (considering the risk profiles).
Potential other applications, such as last-mile package delivery, already have competitors in the field. For Tesla's robot to succeed, it would need to be more affordable and perform at least as well as, if not better than, existing solutions.