Utopia has many meanings, and some of them are impossible to achieve for all of us because some of us are unhappy unless we have more than others.

But there's sufficient resources on this world to give ten billion people each their own luxury yacht with a crew of servant robots, and there are people who would gladly use their own wealth to make others better off.

It's going to be a wild ride, no matter what human psychology drives us to do with this future.

Sorry where do we anchor 10 billion super yachts?

The thing about yachts is, they go on water, and there's a lot of that on this planet. More water than land.

There are sufficient resources to feed everyone on the planet currently, yet we don't. A future where everyone owns their own yacht and robot fleet is completely out of the bounds of realistic expectation.

Robots can (and already partially do) make more robots.

When the AI is good enough for them to genuinely replace all human labour, it's good enough for them to be von Neumann replicators; at that point equality is more about human psychology — greed vs charity — than practicalities.