As for the original topic, I doubt very much that we will reach a point where no one has to work to support themselves
In some of the previous comments I have argued why your assumption is wrong:
People must earn above some minimum to be able to live and work (food, shelter, transportation, education, healthcare etc) while automation requires only one-time big investment and much smaller costs on electricity and maintenance. Robotic systems become more cheap each day and after some point will fall below minimum wage for the human workers (e.g. this already happened for ATMs and self-service checkout lanes in supermarkets).
Yes, and automation causes that minimum to fall much faster. Eventually automation will make it so that working 1 hour a week at a really easy job will be enough to live well. And this is supposed to be a