For stuff like this, I tend to go with how Star Trek uses the term:

"As generally understood by the United Federation of Planets, a humanoid was an intelligent, bilaterally symmetrical, bipedal lifeform. Such a lifeform would be characterized by an upright posture, two arms, two legs, hands, feet, one thorax, a neck, and a head containing the brain. They were generally mammalian and originated on class M planets. It was common for them to have two to four sexes. Among the many humanoid species known throughout the Milky Way Galaxy were Andorians, Bajorans, Betazoids, Bolians, Cardassians, Hirogen, Humans, Klingons, Romulans, and Vulcans."

https://memory-alpha.fandom.com/wiki/Humanoid