The gains in productivity will have to be shared by society, instead of being appropriated by a few. Which is what ended up happening with the Industrial Revolution, after all.
I can see a future where everybody will get a wage, even not doing anything. Those who want to work, will. Those who want to spend their free money setting up a business, will. Those who want to spend money on hobbies, will. Nobody needs to be deprived of food, shelter or healthcare. But people who choose to work or set up a business will have more money to spend on whatever they want.
This is not only possible, it's inevitable. The economy will require less and less people working. But if you kick more and more people out of the economy, it will just shrink and collapse.