You don't.

You run the scutwork of the economy with automation, robots, etc, which provides a basic living for nothing, and let people pursue their vocations.

The process for handling large allocations of resources is left as an exercise, but I'd favour direct democracy via recursive vote delegation ("liquid democracy"), at the most local possible scope (following the principle of subsidiarity).

You kind of need an AI God to bootstrap that. At least, that's the easiest way to get from here (needing a money concept) to there (not needing a money concept).

The fastest realistic one is probably via basic income.

You are severely underestimating the need for people to interact. People love to have subordinates (i.e. someone to boss around), and people love to be subordinates (i.e. have someone tell them what to do).

Being free to do what you want is great, but most people don't know what they want, yet they have a natural disposition/desire/urge to lead or follow, and most definitely interact.

I don't think cynicism is true. People play hierarchical control games because they live in a society where both starvation and hoarding are possible. Basic income would eliminate starvation; deleting money would eliminate hoarding. People do have vocations. They are just suppressed by the 9-5 grind. It would take a bit, but they'd pick them up.