I think UBI is further off than you think. Look at how Andrew Yang was treated during the presidential election. Boomers and their rotten ways of thinking need to die off from positions of power first.
The upside being lower spending on things like testing eligibility, the downside being that either the cost balloons to about $4-6 trillion a year or you basically just accept that some people are not gonna be able to survive.
Their arguments against unemployment benefits are instructive. I don't think a livable UBI is a possibility in the current US political climate, doubly so since it cannot be sustained by income taxes on a shrunken labor base, necessitating more taxes on robot companies.
I can't help but wonder sometimes if that isn't the point for some people.
A raised minimum wage has the potential to become expensive. Pipe dreams, meanwhile, are free.