I agree with you, and that's how I see it working too. And the capitalist system won't work in that setup; it would naturally lead to a single person at the apex owning all the capital (self-reproducing capital => whoever has the best growth function dominates in inverse exponential time), and all the rest of us either being servants or information workers (since everything physical can trivially be done by machines).
Add in strong AI, and you remove the need for information workers; we'd all be servants in the employ of a single CEO at the apex; or servants to other servants; or prostitutes, or some other power relation not reproducible from machines because of wanting the authenticity of a person. I don't see such a state as stable (certainly not in a democracy), and if it existed tomorrow, there would be a revolution. But of course the transition will be gradual, so there won't be a revolution; but something post-capitalist, post-scarcity, will need to emerge to stop blood flowing.