That I agree with. If Elf etcetera existed in reallife, then the scientific taxonomy would necessarily require kinds of species that are nonphylogenetic (namely have zero evolutionary relationship to each other).
I anticipate that this will precisely happen in the near future because of gene splicing and artificial intelligence.
I am comfortable with many of the names that are in the poll of the original post.
I hate the term "race". The problem with "race" is, it means: 1) species and 2) ethnicity, whence 3. other ethnicities are nonhuman or subhuman. The term race is inherently problematic, and occasionally vividly offensive.
So there are actually two ways to avoid the problematic of "race". 1) Pick a term that can only mean biology and cannot mean culture. 2) Pick a term that can only mean culture and cannot mean biology.
From what I am understanding, you prefer the second option. So, in the context of the D&D "Humanoid", never refer to biology, because every Humanoid is too human. It is problematic to "other" the Humanoid.