There are humans who cannot perform these tasks, at least without assistive/adapted systems such as a wheelchair and accessible bus.
Which is precisely what the robotic body I mentioned would be.
You're talking about humans who have the mental capacity to do these things, but who don't control a body capable of doing them. That's the exact opposite of an AI that controls a body capable of doing these things, but lacks the mental capacity to do them.
This just doesn't make sense to me. There are a great number of beans and vegetables that taste bitter or unpleasant "raw" but are very delicious with a bit of heat and time.
Even the oft-maligned Nescafe is pleasant for me if I make it correctly. Not the original formula, but the 100% coffee one without the extra ingredients. I thought it tasted horrible when I first tried it, but if I drowned it in a lot of soy milk it actually made for a fairly pleasant drink.
In general, people are going to be happier if they stop trying to cultivate aristocratic aversions to common food, and instead start cultivating curiosity and an interest in finding ways to enjoy things they didn't expect themselves to enjoy.