The gen 3 hand from Optimus (Tesla) has 22 degrees of freedom in the hand and 3 in the wrist - it's more than capable of twisting a screwdriver or holding a knife well enough to cut a tomato. Like I said, it's a software problem - there's a reason the optimus robots are being tele-operated at their demos. The hardware is capable enough, it's just that the control software isn't up to the task yet.