Work as of now is not a necessity to archieve some outcomes, it's what society is organised around in many aspects.
[0]https://en.wikipedia.org/wiki/Extreme_poverty#/media/File:Wo...
resources are finite, even if you're using very efficient fully automated planning & execution systems to utilize said resources. something's got to give, and most likely in such a world it will be the ability to procreate (get neutered, receive shelter, sustenance and healthcare for life).
Also—we're already living in a world where a lot of menial labor is automated. I'm not sure I'd call it "utterly delusional" to see that there's a long history of humans automating tasks and to think that eventually we'll automate everything we need to survive. We've been moving towards that goal for the past 200 years!
I feel like so much turmoil in the world is caused by people acting irrational because they're afraid of going hungry, becoming homeless, being hurt, etc. A world where that fear is largely gone could be a marvelous utopia where everyone is free to chase after their dreams. It could also result in everyone living in VR 24/7 and our society decaying into hedonistic madness. I think it'll be a little bit of both.