The current population is growing. Evidently there is enough resources to population at this level (food, water, space, air, energy, etc). If production of resources is automated why can't resources distributed to sustain current population?
People in the US need to let go of a lot of the ideas we cling to (taxing the rich slows the economy, UBI is communism, wealth redistribution == USSR) if we're going to live through the coming automation boom.
Health care is tougher, due to stricter regulations (rightly so) and reluctance from doctors but I think the transformation there is about to begin. Look at what is happening with (open source) prosthetics.
Prime reason for rent and mortgage that I can see is wealth generation and in a society where wealth is less important perhaps these will also decrease. You can see more and more interest in open source, not just in software but also other fields, is this a shift away from wealth accumulation?
From another angle, people are beginning build homes with recycled plastic and by 3D printing this hopefully will reduce build cost. And hopefully that will filter down to the end consumer.