If I need cash, I walk into a Chase branch [Not my bank, but conveniently near a Thai Restaurant I like to visit] and just ask for cash advance against my VISA card. Done by a teller, there's no ATM fees.
_Nickel and Dimed_[1] is oldish, but still highly relevant, if you want to read a depressing book.
[1] http://barbaraehrenreich.com/nickel-and-dimed-by-barbara-ehr... https://www.amazon.com/Nickel-Dimed-Not-Getting-America/dp/0...
Like every other thing poor people can't afford, it could be solved by UBI/EITC/negative income tax, or direct service if you like big government, but banking isn't special.
IIRC, the fee was $10, I had to provide my ID, secondary id and provide a fingerprint.
https://boards.straightdope.com/sdmb/showpost.php?s=0a4ad0b9...
I remember hearing someone sued BoA(?) for "failure to honor the face value of a check" and lost. After that, fee's started spreading. I can't find an online reference to this story.
Use credit unions or small, local banks and you likely won't have this sort of problem.