I think the Star Trek utopia is not only likely, but inevitable. We just have a difference of opinion and perspective. We live in a dark time, but that course can change in an instant.
We should be focused on leaving Earth and designating this entire planet a national park, to be preserved and protected.
When I say “menial tasks are eliminated”, I am speaking towards essentials that no one would want to do without money. We can shift to a voluntary society.
What you are saying is not fair to people who have no choices. No choice but to starve. No choice but addiction. No choice but to endlessly work deadend jobs. No choice but to be battered and beaten by dictators. No choice but to live subject to the whims of narcissists.
When you have the privilege of livable wages, respect in industry, wealthy social connections, none of what I’m saying would make much sense. But the vast majority of people have none of that, and are dreaming of a day when they are liberated from the rigors of tasks they never wanted to do.
People can still do art, can still woodwork, can still perform amazing feats of will, can still invent, can still discover, can still do all manner of things. They just will not longer be forced to against their will to survive; and, at minimum, they won’t be forced to by the whims of other humans who have, by circumstance and tradition, appointed themselves ruler.