There will always be scarcity, it is unsolvable problem. Humans needs can't be met, people will always want more.
That is not the things that can be unlimited. There will always be better food, bigger houses, better medicine etc.
In the eyes of the bottom 30 (or maybe even 60) percent of humans on the planet Earth average American already has the access to unlimited food, shelter, medicine, and knowledge. But good luck to convince Americans that they have those access.