And similar things can be said about many technologies in recent history – cars replacing the horse, first flight to man on the moon, even the creation of early internet to its mass adoption.
You're talking generally a decade or 2 for society to completely change from the rapid advancement of a new technology.
I'm not saying I agree with the 2035 prediction, but it doesn't seem impossible to me, if AI can help us improve the pace that we're already developing disruptive robotics.
In 2010 the idea of self-driving cars and autonomous delivery drones seemed very sci-fi and a long way out. But today, just 15 years on, these things are increasingly starting to be rolled out.
If they dropped that 95% number to 50-60%, I think I'd probably lean towards agreeing. Not because it makes sense in my gut, but because the logical part of my brain knows exponential trends (if one exists) do things that we wouldn't instinctively predict. But even if you assume exponentials 95% does seem very high.