If machines were truly able to replace most jobs, we'd need to move to a post-work society. There would be no need for money and for small powerful groups to control the means of production. There needs to be a new philosophical and political framework for a society of people that does not need to work, and no one is building it. Perhaps we should ask an AI to design one. But it will probably be too late, and those currently in power will do everything they can to maintain their privileged positions, and will end up living in small walled gardens while the bulk of humanity live in slums.

This all assumes that AI continue to do the bidding of humanity, which is not guaranteed. There are already security/safety researchers testing AI for autonomous power-seeking behavior, and this is basically gain-of-function research that will lead to power seeking AI.