I worked for a farming automation company over 20 years ago now. There were a few things I noticed:
The first was that much of the low hanging automation tasks had already been automated a long time ago. People think automation is replacing a field full of 100 workers with 100 humanoid robots. But the reality is that we replaced those workers with a tractor and pesticide sprays. It's this observation that makes me skeptical about the whole humanoid hype fest.
The second thing is that people are damn cheap. I mean, a human can pick a lot of tomatoes in an hour. If the human breaks down, you just fire them and hire one that is in better condition. There is no capital cost for a human (perhaps a little to train them) - the farm doesn't have to pay to 'build' them. Even if a tomato picking robot was a few 1000's of dollars (not going to happen) that would still be higher than the cost of just getting another human. Further, if markets change you just fire your humans, or get them to pick something else instead, but if you've invested significant capital in tomato picking robots you've got a big problem.
I'm not saying that there isn't a point at which an automatic tomato picking robot wouldn't be viable - there definitely will be. But ultimately it's just an economics question. At the moment, making such a robot that can even perform that task well, let alone be cheap and, importantly, reliable, is a very difficult problem. I definitely think we could solve it - we could have solved it a decade ago - but there is very little investment for this stuff because the low price of humans sets a limit on the value of the resultant product, and that value is very low.