I disagree with this pretty strongly. With a good enough sex robot the illusion of desire will be indistinguishable from actual desire. This is all that most people will require. To expand that a bit, once the uncanny valley is crossed — and it will be — most men and most women will be content with “someone” who is always insatiably attracted to them, interested in them, and shares their kinks and predilections.

This is just obvious if you know even a little bit about human nature.