Automation isn't the problem, its control and use to create systems of extraction from the disadvantaged is.
A non-automated McDonalds extracts money from a certain population(the target market of the McDonald's) and funnels it to the owner, but the owner has to employ people(typically from the same area/market) to give some of that money back to.
Without those jobs, money is being extracted from the target market without any being given back.
Tax everybody at the rate that allows us to provide for those who are put out of work by automation, and let those who automate reap the rewards of that.
It's not technology's fault that we require people to do bullshit jobs in return for bullshit pay. It's that our secular religion of protestant capitalism is severely flawed. One day, all production will be automated, and 99% of the population will still be digging holes and filling them all day in return for their rations.
You have to tax differently because different productivity mechanisms have different societal value (not economic, importantly). There is a short story or proposal I recall consuming a long time ago about different types of money, one for things with no or low marginal cost, and one for things produced by humans. The former money would be printed and distributed somewhat freely, the latter not. Similar idea. If someone recalls a link to this idea, please comment!
We already have a lot of pointless jobs in the charade that we continue with.