What should happen is a graceful transition from the scarcity-driven model to a virtually non-scarce model. We could start by issuing shares in public companies to the poor (financed by taxes), with the restraint that they aren't allowed to sell shares. They would receive dividends each month in addition to welfare. Eventually they might receive enough so that traditional welfare isn't required. As robots replaced workers, more and more people would end up on this kind of "dole" but it would be less and less onerous, and less and less of a stigma.
Eventually, you end up with almost everybody living off investment income. You still have a free market since there are no restrictions on *buying* new shares--you are only barred from selling your dole account. It's just that the market employment become less important.
That's just the financial aspect of the transition, with a very simple sort of social justice thrown in. It could be lousy or great, depending on a lot of societal factors. I think it's just important to realize that a gradual transition is possible without going to war over words like "socialism", "communism", "libertarianism", "fascism" or whatever -ism du jour is getting blow-hard pundit panties in a bunch.