We have surgeons able to do surgery remotely with robots, which is a lot more complex, so it seems it should be possible to build robots that can do less complex labor controlled by a person. Plus, it would give us a chance to help address the high physical demands of some types of labor.
A lot of the "essential" labor that you're talking about also happens to be really cheap labor. Developing a robotic replacement (even if it still requires remote control) would pay for years if not decades of low-wage labor, not to mention maintenance of the robots which will need to be done by relatively skilled (and thus costly) labor.