I used to like the idea of Soylent, but after subscribing to one of those weekly boxes where they deliver all the fresh ingredients and recipes to you, I've found a lot of enjoyment in cooking.
In a utopian robotic future we'd all have robots cook our meals with the expert quality of a high-end chef.
In a dystopian robotic future, the robots would give us the most basic sustenance to keep us alive if they deemed us useful... and I'd imagine what they'd give us would be something like Soylent. If some people are happy with that, then I'm not going to judge, but personally I think we could do better.