Zhirafa manufactures a lot of animal inspired drones (in this case drone=robot, not a flying drone) for construction job purposes. If you were to have any megacorp create a prototype humanoid drone, it would likely be them.

There are Robot R Mk. 2s in 2077 which are defense robots that are owned by different megacorps, the police, and rich people like Kerry Eurodyne. They’re androids, but not very human-like. They’re very clearly robots.

Despite this, since there are lifelike full-borgs, it’s definitely possible they’ve used a similar style of body for a prototype. I think their movements would be the hardest thing to make lifelike since they aren’t piloted by a human brain, so there would definitely be an uncanny valley effect to them. They’d basically move like really detailed video game characters, but in real life.