We look the way we do because our ancestors were once tree climbers of forests that started to recede and then they moved to the land and stood upright to carry food better. Could alien life evolve to look humanoid without this specific background? Let's say they have four limbs like us just for simplicity.
There are many quadrupeds. Humans are a quadruped who can see over Savannah grass. Tree climbing was just one reason they evolved four limbs.