Having arms and legs isn't "physically privileged". If one is unable to create and maintain relationships then they likely have some cocktail of physical and mental disabilities. Most functioning adults can go to a bar.

The point being fixing your own life is going to bring much more in the way of benefits than the government or Sam trying to fix it for you. If one are a complete social reject then no amount of AGI will save them. People without close relationships are zombies that walk among us, in most ways they are already dead.