Jamaica Kincaid's "Girl" was recently the subject of the New Yorker's fiction podcast (where some published author comes to read and discuss some story previously published in the New Yorker). So after recently listening to that story, this story really does seem like the same form with sf-nal tropes. (Other possibility for inspiration: Carole Maso's Ava, a dying woman's last day of stream of consciousness remembering.) Frankly, I like experimenting with form, even if those experiments involve raiding literary work. (One of my favorite books is John Brunner's Stand on Zanzibar, which takes its form from Dos Passos without any shame.)
That said, "Girl" is a very short work (and includes two interjections by the daughter who is getting lectured/taught). I don't know what I would cut or trim here, but I can see why some people thought it went on too long.
Contra InfiniteMonkey, I thought the story's additions didn't do as much for me: an old woman dealing with her caretaker robot--I'm on board. A caretaker robot from aliens--okay, I'm listening. Caretaker robot from aliens with hints of body-replacing and some confused recollection of the old woman's career in exploration and the estrangement from her family that might have resulted--well, now I'm no longer on board and merely I'm waving from the platform as I see this story go on.