Not sure about the software side, but we're decades away from the hardware seen there. Actuator (motor etc) and battery technology are not dense enough to do those things and still fit in a human shape. Those Boston Dynamics robots are about as good as we can do, and they're bulky and missing a ton of stuff you'd expect like dexterous hand and faces.

Kinda, but aside from scale the fundamental difference is that 3D printers can only make things out of the substance they're fed. Replicators eliminate basically every type of scarcity, globally and locally. THAT'S the fire-like paradigm shift.

Not remotely in our lifetimes, if ever, but Star Trek replicators and transporters would be that kind of huge shift. Energy-to-matter conversion with subatomic control.