In the UK, many families who were plunged into poverty during the 1980s have yet to recover.
So if history is any guide, I don't think it's a sure thing at all that everyone will have time to adjust.
How do we adapt an economy in which humans are economically worthless?
The world will just become sub-Saharan Africa. Humans could choose to end world hunger but we much rather selfishly consume. Most people can't even be bothered to look those begging on the streets in the eyes.
I hope you're right, but it would be unusual for humanity to care so much for such economically useless people.