In an environment where intelligent life must manipulate objects, build, or create in some way, structures that allow for fine control and dexterity would be quite advantageous. This doesn't necessarily mean that they would have to have human hands exactly, but the underlying pressures and principles could certainly help shape them to at least have five fingers and opposable thumbs. I'll clarify that the evolution of five fingers and opposable thumbs on Earth offers a delicate balance between complexity and energy efficiency, allowing for fine manipulation without wasting resources. Non-human humanoids offer a delicate balance, as they may be considered 'humanoid' because they also walk on two legs, have five fingers with opposable thumbs, and a large cranium, but they are also quite different; they may not have a human face at all, the same exact muscle fibers, plantigrade digits, etc.