Patlabor addresses this somewhat. Bipedal mech started as a way to rapidly rebuild Tokyo after a massive earthquake. They became so ubiquitous, that regular people had access to them so between drunk/disgruntled construction workers and some bank robberies, Tokyo police had to add two divisions of "Patrol Labors" to deal with it. They're costly and annoying to everyone. The mech carriers are two lanes wide and no body likes giving them the right of way in traffic. After that, the companies making them diversified into military and meches have a limited roll depending on the terrain. Mostly swampy jungles with bad line of sights, so the legs are useful and the high profile a none issue. High end military models are very quiet compared to civilian models.