By those standards every single human to ever live has been in prison. Humanity will only be free once we're in a post-scarcity society.
To put it another way, there are ways to make money that spark more or less joy, and much of this variation is possible even for "regular folks" working "regular jobs". But most of that possibility space is yet unexplored.
Not sure whose fault that is, but I am reminded of the quote, "the opposite of courage in this country is not cowardice, it is conformity."
Most people just do what everyone else is doing (i.e. the 80% who are dissatisfied with their work) and then wonder why they are dissatisfied with their work.
What use will the wealthy and powerful have for the unproductive masses after robots can do all their work for them?
Is more likely that strong AI and robots will be used to ever more effectively control and oppress most of humanity than help or free them.
Unrelated, but what a definition… using the same word to define itself, and several times.
However, you are not free to force others to pay for you to do that; and that's what you're asking for.
I know plenty of people working 2 jobs and simply don't have time to find a replacement for one. With wages at record lows, that also means if they lose one for any reason, it's not like a little breaky break while they find another, it means something on their extremely narrow budget gets the axe for that week or whatever. Usually healthcare, sometimes food. Sometimes rent, at which point if you don't have a friend's couch to crash on, you're homeless, and then it's astronomically harder to find a job. You are well and truly fucked.
So not everyone is "free to leave the job."
BTW I don't know the OP but the word I was going to drop in was not prison, it was slavery.
unlike a prison, you're free to leave the job.