You’ve addressed a different question, which is how satisfied with life will people be post scarcity. That’s a fine conversation to have, but it’s not the one I was having. My point is: how do we get there?

It's more likely that the people are just left out to dry instead of getting UBI.

Seeing as how austerity governments campaigned on reducing social benefits and achieved considerable success over the past few decades, I don't see how your solution consisting of granting people even more social benefits will ever happen. Unless there law and order is about to break down, there is no reason for the rich to leave all of that money "on the table".