I personally think absolutely. 20 years is a very long time. Tesla will start mass manufacturing their robot in 2-3 years. They will use all the robots produced for 2-5 years.

So 4-8 years they will start selling them. They will be connected to the data center where a strong AI will understand the command/job given it, and then it will send back simple instructions to the robot.

I think send driving will be solved well before then so they will have lots of compute to help with training.

Connecting utilities is a walk in the park. However I believe the housing will likely be built off-site with options to be self sufficient. Otherwise the robots just connect it to the utilities.

Additionally by then you will have autonomous heavy machinery as well (eg bulldozers) so the AI at HQ will be able to create the plans for the entire project and then send the instructions to hundreds of humanoid robots and heavy machinery with Tesla cars/semis to move everything around