I don't think feudalism is going away one way or another. It persists [in various forms] because of certain biological realities, ranging from genetics to loyalty engendered by familial relations. [This is merely an observation.]
In sum, the argument against current AI trends isn't that once addressed we will wake up in utopia. No. The point is that these natural tendencies of humans are hugely amplified and set in generational stone once the elite have control over thinking machines and lord it over a population that has experienced generationally diminished independent cognitive abilities.
p.s. All this somehow reminded me of 'Spock's Brain' episode of Startrek /g Note: the elite there were overcome because Kirk and his landing team were cognitive high performers ..