I, for one, cannot see the future and don't know when technological advances will put so many people out of work they cause major economic upheaval. But I think this makes little difference. We should want technological advancement anyway.
I don't think "it will put humans out of work" is a good reason to make tech illegal or to avoid researching it, mainly because "putting people out of work" means "eliminating the necessity of tasks that are so unpleasant we have to pay people to get them done." Eliminating labor is ultimately a good thing in-and-of itself.
When our economic model can no longer function within our technological landscape, then we will need to adapt our economic model. That's how we make life better for everyone. Maybe it is not an easy thing to do. Ok. It is still the right answer.
I don't think we have to get ahead of ourselves and start changing our modern system to accommodate the climate we imagine will result from new tech. It still makes sense to wait and see.
We DO have a homelessness problem right now. Some percentage of the homeless have mental diseases and/or drug addictions that prevent them from being able to get and hold a job, even though there are jobs that would be otherwise available to them. I don't know what that percentage is though. If it is high, then that suggests that there are enough jobs available to cover the populace, and as such tech is not putting everyone out of work. If that percentage is very low, then we may need to look at how many jobs are available and the reason why the homeless population isn't obtaining them. Is it some kind of educational failing, for example? Might there be things we can do to address that? Yes, and a serious effort at doing so is the logical next step, not some sort of alarmist panic reaction to every new tech that shows up.