Let's drill down a bit more here shall we?
Let's move away from orc into SF and Star Trek. Just for a moment. Vulcans. Now, vulcans are FAR closer to humans than orcs are to humans. Vulcans are physically pretty much just humans with funny ears. They don't even have bumpy heads. A pair of dollar store ears and a bad hair cut and you're cosplaying a Vulcan. Not a huge stretch.
Are you going to tell me that Vulcans add nothing to the Star Trek universe? Note, vulcans have been portrayed as both good guys and bad guys at different times so, it's not like they are one dimensional in alignment. Yet, we're talking about a mountain of information about a fictional race, novels, movies, TV shows, you name it. They've featured in pretty much every single Star Trek franchise save DS9.
So, the notion that being "just a functional equivalent to being human" doesn't really equate with their being of little value. From Vulcans, we get Romulans, which have hugely added to the setting and the stories that are told. Probably second only to Klingons really. And, speaking of Klingons, let's not forget how wide a variety of character we've seen there - from the human eating warriors of Discovery to the HONOR!!! bound Lt. Worf and everything in between. Klingons certainly serve as a template for how any race can be interesting AND not a bag full of racist stereotypes at the same time.
@Scribe talks about how these D&D races suddenly become cardboard cutouts if you take away the alignment angle. "They aren't interesting. They are your neighbor with bigger teeth, and a green or grey tint of the skin." To me, that's just a complete failure of imagination. If the only thing that makes orcs (or whatever) interesting is the racist tropes, then, well, that thing shouldn't be in the game. But, there are all sorts of examples of these things being redeemed. Vampires were once a bad stand in for Eastern European immigrants. Now, after Anne Rice, they are sexy romantic figures with tragic stories. Look at the differences between Dracula - a completely vile character with no redeeming qualities - and the modern takes on vampires, from Buffy's Spike to various other shows.
Or, look at what they are doing to bring the Mythos stories into the 21st century sans the massively bigoted rhetoric that makes me want to wash my eyes out with bleach after reading. There are fantastic writers doing fantastic things with the Mythos and leaving Lovecraft consigned to the dustbin of history where he belongs.
Heck, the whole point of the Steampunk movement is to shine a critical light on the mysogynistic and racist underpinnings of Victorian and Edwardian era SF. And, they've massively succeeded. All sorts of fantastic works that take some of the really cool ideas of the time and then marry them to modern sensibilities to create something new that doesn't tell large numbers of potential fans that they are of less value.