Assuming your assumptions, in this situation is living on $10k-20k a bleak, dystopian future compared to the default (if nothing changes in our policy, no UBI) scenario of all these permanently unemployable people having no reasonable income?
The last time we faced the possibility of "automation" taking our jobs, we invented the 40 hour work week to redistribute work and raise quality of life for more working class people. We called it The Industrial Revolution.
I think of this as The Second Industrial Revolution. I think we need new ways to cut the burden of work for the average individual without cutting large numbers of people out of work entirely.
Designing it that way is not a given. And it is a design choice to say "meh, too bad, so sad that many people will simply be unemployed -- not my problem." It is a terrible design choice, but it is a choice.
They never go into how bleak a dystopian future we are talking about if large numbers of jobs that pay $20k-$50k or so disappear and now you have to live on $10k-$20k with little or no hope of ever getting a job again while inflation steadily erodes the real value of your UBI. Glad to see one article exploring that (dystopian view), though it fails to mention this aspect of UBI.
We need to resolve the widespread lack of affordable housing in the US and we need to fix our broken healthcare system. That would give ordinary people substantial relief.