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Don't take it to the limit, but consider a continuous relaxation : underemployed people doing whatever is not feasible or economically attractive to AI/robots, like prostitution, massage therapy, art, sales, social work, etc.
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Who needs the money when you have an autonomous system to produce all the energy and resources you need? These systems simply do not need the construct of money as we know it at a certain point.
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The star trek society is is a remote possibility here. One can hope.
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I think we're going in that direction. The typical reader here I think can't see the forest for the trees. We're all in meat space. They call it real life. Most jobs aren't on the internet and ultimately deal with the physical. It doesn't matter what tech we have when there's boxes to move and shelves to stock. If AI empowers a small business owner to do things that were previously completely outside their budget I can only imagine that will increase opportunity.
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What makes you think the people who control these post-scarcity machines are going to share their output with you?
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Being rich is ultimately about owning and being able to defend resources. IF something like 99% of humans become irrelevant to the machine run utopia for the elites, whatever currency the poors use to pay for services among each other will be worthless to the top 1% when they simply don't need them or their services.
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So what? If you can generate all goods and services without anyone else's help, you'll just do that. You don't need other people buying what you produce. You don't need other people at all, except for a very small number of servants.
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