Interesting, I think the entire industrial revolution is a very strong counter example to that statement. We repeatedly automated the majority of jobs on the planet every few decades and we saw the largest expansion of wealth and prosperity for the majority of humans in all of history. Should we lament over those subsistence farming jobs that were automated away?
The free market isn't some singular entity that figures out problems before they arrive and sends us all an executive summary of its plan. We currently don't have mass unemployment from automation, and I don't agree with many of the reasons people express for worrying. The only arguments I've seen against mass automation are hints of some dystopian future where somehow robots are prohibitively expensive for all but the richest people, and goods will somehow be cheap enough from automation that non-automated manufacturing can't compete, but still expensive enough that if we don't work 40 hours a week we'll starve.