We know this to be true with a reasonably degree of certainty
> likely a society
This one, not so much. We could potentially have pretty vibrant societies even if everyone is not ultra rich, not going on international vacations, not having access to buy things from the other end of the world subsidized by economies of scale.
You likely wouldn't need money at all in that future, for example. What does the money really mean when everyone I'd guaranteed to have all the basics covered? Is money really helping to store value created via labor when there is no labor? And is money providing price discover when the cost of resources and manufacturing are moving towards zero?
If labor is replaced with tech, and I think that's a big if, I don't see any outcome other than a totalitarian distopia that will fail much like the Soviet Union.
Sure I'm talking the future so its speculative, but I'd love to hear a scenario where it works well sustainably and doesn't turn into a totalitarian distopia.