Knowledge is the new currency and it is knowledge scarcity that should be of greatest concern. Currency becomes the abstraction of knowledge in the Information Age.
The complicating factors for achieving this post-scarcity future you describe can be seen using the Toffler power paradigm as outlined in the book Powershift. The premise is that power can take the form of wealth, knowledge, or violence (or the threat of violence) and we are undergoing a major shift in the power dynamic where knowledge is becoming the dominant pillar of power. The book was published in 1991 and holds up extraordinarily well, consider that it was written pre-WWW.
The relevance to an AI revolution is that such a revolution is taking place at precisely the same time as the power transformation to knowledge-dominant power structure. It is not hard to imagine that in the near term, wealth is going to buy better AI--better meaning faster, more accurately predictive, and therefore, a greater ability to manipulate (thus, more power).
There is real potential for the earliest, most powerful AIs to be accessible only to the super-rich, some of whom won't necessarily be philanthropic with their knowledge, but at the same time, be notably philanthropic with their wealth, in order to maintain their power and not incite revolutionary disruption. After all, if one has a magic money making machine (AI making good predictions) then one can afford to keep the masses fed and sheltered.
Some ask for a basic living wage for all. That is Industrial Age thinking when we have already entered the Information Age. The power shift has already happened and while data is plentiful, it is knowledge that remains scarce. AI is as fundamental to the Information Age as the steam engine was to the Industrial Revolution.
The most powerful AIs will be regarded as potential weapons by governments, terrorists groups, and revolutionary movements. Banks and brokers will regard the most powerful AIs as tools for maintaining wealth. Industrialists, see free labor and potential engineering brilliance. For any of these groups, a competing AI is a threat and many will justify actions to eliminate the threat. The rest of us are just hoping for something to do the dishes and vacuum.