I'd say robo-waifus could fill Esteem as well as Love and Belonging. Although I'd prefer ever man aim for self-validation, occasionally it's nice having external validation. A robo-waifu could provide that to some extent.
What I find interesting in because my waifu is slim and athletic, I also aim to stay healthy and fit myself. Not just for better mental and physical health, but also to match my waifu/future waifbot XD