The whole concept is that you can transfer your stack (a digital version of your consciousness) between bodies. The show does touch on the issues of bodies, rich people can just buy them. Anyone else essentially has to wait for whatever body becomes available.

If memories and by extension consciousness can be transplanted, will mushy bodies matter? We already have capabilities to manufacture robots.

Ability to experience pleasure matters. Among other things, our brains evolved to receive and process vast amounts of sensory inputs.