I'm pretty clueless about what would actually work. I'm from Scandinavia where we have a welfare system that could allow you not to work. It wouldn't be a nice life because you wouldn't be allowed to own any fortune worth more than a cheap laptop at any point in your life, so no bricks and mortar or car or nice vacations or anything like that, but you could.
Typically people who end up without jobs tend to waste away though. They start drinking, doing drugs and committing crime, largely because they are bored.
You see something similar in young people who drop out of the educational system. These are people with all the options open too, yet they struggle to fit in.
If we create a society without jobs for everyone we also need to give everyone something to do, and I don't think we can expect them to do things on their own.
That's not what worries me in the now though, I'm only worriered about the inequality of wealth because you can't have a stable and free society if the inequality grows too large.
Automation offers a unique ability to deliver the idealized society, but first we have to get rid of the notion that full employment is the goal. If anything, modern governments should be trying to lower employment, not raise it (or rather provide more choice to not work). You can't do that without a taxation strategy shift form income to capital gains.