But I'm not even talking about that. While I think embodied AI would probably improve the illusion and might help some people, the fundamental issue is that loneliness can only be alleviated by an entity that can judge you as unworthy of their attention and time. If you build a robot specifically to give someone positive regard it actually isn't giving positive regard because it has no choice.
While there are basic elements of human interaction which robots could provide, the need to have the actual approval of members of your actual community of their own free will and volition cannot be "outsourced" to an entity without agency.
"Loneliness can only be alleviated by an entity that can judge"...won't say your wrong, but does that include for you: "An entity that gives you food for thought"?
Or as a well more philosophic-Question (call it an oldie): "Needed existence to substain sustaining the saints?"
OT: There once was a saying that while talking to god a lot people became angry, asked by god "Angry for what?" so the people answered, "Angry about you god...", "cos been angry about the people around sometimes..." So god answered: "Like you i also become angry about the people sometimes" and those listening Crowd, knowed from in there, "That was the reason for why god didn't showed up most of the time ?"
While there are basic elements of human interaction which robots could provide, the need to have the actual approval of members of your actual community of their own free will and volition cannot be "outsourced" to an entity without agency.