As the fall of Rome, the middle ages, and several other dark periods in human history show, this is now always the case.
>There are lots of things that will likely never be cost effective to automate or are impossible to automate.
Several things, yes. A lot, no.
And even if those types of jobs were many, what matters is the number of positions they give us. E.g. being a brain surgeon might not be easily automated, but we don't need that many brain surgeons anyway.
On the other hand, truck driving can be automated, and when it does, it will take with it 1-2 million jobs. Automating fast-food serving and cooking? There go another 2-3 million. Automating office cleaning? There go some millions more.
As for more artistic jobs, like a musician or painter, those might not be realistically automated (because we value the human source of an art work etc), but they aren't going to pay much either, especially since most people wont have proper jobs and thus much money to spend on music (and even less so on art).