I can totally see someone making a fully articulated robot hand that can be controlled remotely. The controller might be a glove full of sensors or it might be visual tracking like Kinect. At this point, it's inevitable.

Tracking hands is the easy part, we've got most of the tech.
Cat Explorer by Leap Motion FPV Capture on HP WMR headset - YouTube This is like 4 (5?) year old tech.

It's that articulation of a robot hand where you're gonna rack up the dollar signs. Basically a super expensive prosthesis. When I was staying at my friend's place we were discussing building a cheap 6 axis robot arm mounted to a wall above my bed because I realized that you don't necessarily need to "track" something like that in VR like you would normal controllers. If you know the angles of the axises (axii?) you can just use reverse kinematics to calculate its movement. So there's definitely shortcuts we're gonna see before we get to that point, but it's fascinating how we're progressing so far.

Personally, I think within 10 years we're gonna have generic looking animatronic real dolls, that in VR will be able to look like anyone you want. They're not gonna be super impressive on the outside, but they'll be able to move around into different positions and push back just enough to let the heavy lifting of VR break through your doubts.

I prefer to receive artisan handjobs using locally sourced lube from men with long beards.

And that is totally understandable. But also, Covid.