The goal posts are continually moved with AI because AI never seems to look quite like human intelligence (though why should it?). AI and ML coupled with robots that are relatively simpler than Rosie from the Jetsons are cheaply out-competing human labor in many sectors today, and an avalanche of new sectors is on the cusp (within 2-5 years, not 20 years). Driverless cars currently outcompete human drivers, and a enormous number of people are currently employed as drivers. The remaining hurdles are regulatory. AI is intelligent enough today to outcompete a lot of humans in the work which is currently putting food on their tables. And I haven't seen the burgeoning industry that readily turns former taxi drivers into productive workers in other industries. The industries that can readily accept taxi drivers are generally shrinking as well (meaning, they've got all the workers they need, more than they need, in fact).

Maybe you're right, and it will all work itself out. Some huge growth industry to which humans are uniquely (at least at first) well suited may spring up in the next couple years. But the crisis is awfully close (taking into account driving occupations alone), and there's no market solution in sight, so it seems like prime time to start looking for non-market solutions.