But, a post-scarcity society, where labor is nearly valueless, still requires everyone have their needs met regardless of what they "own". But in that future as through all the past, most people are born owning little more than their labor.
So a post-scarcity society does not just require the technology we are approaching. It also requires a radically different perception of ownership. This is the harder problem.
In the language of today, it means a person without property and whose labor will always be essentially valueless, gets the produce of someone else's robots, ownership of which will be passed down though generations. Changing this is close to unthinkable in current society.
But unless this massive social shift emerges, it appears that larger and larger portions of society will be converted into a euphemistically renamed servant class where their labor has not intrinsic value except prestige or amusement value to the person hiring.
Pardon the following if it's upsetting, but I notice our current path is to add more and more store clerks, waiters, maids, sign spinners etc. Not because machines/systems can't do theses things (amazon, self serve restaurants, billboards) but because the customer enjoys/gets a kick out of them.
On the current path, what would have become a post-scarcity society will instead have vast numbers of such people earning their minimum requirements at such jobs. Plus perhaps homeless people permanently converted into a prison workforce.