If you would let that choice to the people you would get a dysfunctional society because noone wants to do what needs to be done.
Yup. No kid I've ever asked "what do you want to be when you grow up?" has
ever replied "I wanna be a janitor!" (Here, though, is where robots could potentially help... these menial and dirty or dangerous jobs could easily be handled by mechanical workers, and you yourself said that decision-making capability does not require consciousness.)
Meh. Untested conjecture.
*ahem*...
https://en.wikipedia.org/wiki/Icelandic_Commonwealth