Sure, but that’s the answer to “can poor people more or less be alright “. Which while interesting is orthogonal to the question of “can a society exist with no poor people”.
For concreteness, I'll say that I would define "poor" as not having the capability to satisfy the lower tiers of Maslow's hierarchy. ( https://en.wikipedia.org/wiki/Maslow%27s_hierarchy_of_needs ) By that standard Bhutan isn't poor despite being technically a Third World nation.