I'm not sure if the author is claiming that the job displacement will be 1:1. Does anyone honestly think it would be 1:1? I don't think so. And if more jobs are disappearing than are being created, there is a net job loss; also the author agrees that the new jobs would be lower pay. Whether jobs will be created in entirely and unpredictably new industries is besides the point. Yang's point is that everyday people are inadequately prepared to make that transition to new jobs. He frequently cites data that the US federal government sucks at job retraining.
IF various tech companies are successful in their endeavors (and yes, that's a big if), it will be true that a lot of people will need to transition to something new. And given recent demos by various tech companies for voice AI tech (yeah, Google's really was impressive when it came out, and it will probably get better until it's commercialized one day), self-driving tech (I'm a skeptic for the short-term, but it will probably happen in the long-term), and etc, I think the subject is ignored at the working population's peril. Never mind self-checkout, which is already a reality and steadily gaining ground.