Milton Friedman (of all people!) had a pretty worked-out proposal for it, though he was going more for a poverty-line basic income. Basically, everyone (rich and poor) would get a refundable tax credit roughly equal to the poverty line (something like $11k), rather than having a specific cutoff or phase-out. It would implicitly phase out for richer people because a flat $11k credit just doesn't equal too much if you're making a lot of money.

At the time, at least, he argued that it could almost entirely be paid for just by rolling all our current welfare programs into it: instead of this patchwork of welfare, food stamps, section 8 housing assistance, etc., just have one refundable tax credit, thereby massively reducing both the bureaucracy and the market distortions while still providing a social safety net.

Not that I necessarily agree with the views of the parent post (I don't know them well enough), but I think you're looking at "now" to argue the impossibility of "then". In other words, I don't think our current society really reflects much of what society will have to become in the fairly near-term future.

We already have effectively unlimited energy in the form of the sun (we currently collect only a tiny, tiny fraction of its full output), I don't see how teleportation factors into it, food production seems likely to become almost entirely robot-driven within, say, a 50 year time-frame (by competitive influence), we're progressing by leaps and bounds in the area of human health, and population management will obviously be necessary to balance quality-of-life and resource concerns.