Which raises the question of why anyone would work, if doing whatever you want and still living a comfortable life was an option.
It sounds like a lovely future, but I don't the automation exists yet to replace all the jobs.
People with literally billions of dollars of wealth still devote time and energy to earning more. I don't think its a stretch to think that people who merely have enough for tolerable food, clothing, shelter will continue to do so.
For a minimum wage worker it is absolutely trivial to see that the tradeoff isn't worth it and subsequently they behave predictably like a lazy person. People acting according to free market logic deserve the stick. Do you see the problem?
If I look at the size of the median house, the price of the median car, that doesn't seem true. If most people would be satisfied with a basic income scheme and nothing more, why aren't most middle class people trying to save half their paycheck and retire before 50?
Let's say you got $20k/yr[0] for free. Do you think you could live comfortably on that? Would you be willing to work to improve your comfort level?
[0] full time US minimum wage with no time off is about $15k/yr
You work to be able to afford nicer clothes, more vidya games, fine whisky, more-comfortable retirement when you do stop working, vacations, better school for your kids, a nicer house with a view, and so on.
The carrot remains the same, the stick is just somewhat smaller.