I honestly have no idea how it would work or even if it could work. For all I know as wealth concentrates towards the owners of automation our society could collapse and we all end up stuck in a perpetual agrarian society with no easily accessible energy source or metals to ever get advanced technology ever again.

The only way out that I see is something like Guaranteed Basic Income (GBI) along with socialized medicine. Everyone gets a handout from the government that's enough to live a decent life. Food and shelter could be free; which would make sense if agriculture is 100% automated (why let all the profits and control be saddled into only a handful of people?).

Then everyone that wants to can compete for making more money via their passions and hobbies or, for the few that can do it, actual work/employment.