The percentage of the world that is undernourished decreases over time, as the total wealth in the system grows.

https://ourworldindata.org/grapher/mdg1c-hunger

When we have a fully automated economy there there will be so much wealth in the system that the Uber rich won't mind being taxed. They'll still have their mega rockets to take vacations on mars, palaces under the ocean, and whatever else they want.

Think of it like this, the government could tax the uber rich enough to get five robots. Those five robots could build a robot factory and have a thousand robots in a year, and a billion robots in two years, building more robot factories, running and building vertical farms, building and running apartment buildings that go down underground for miles and are hundreds of miles wide, all with plumbing, electricity, internet, and sever farms capable of running super intelligence.

Some countries give all their citizens a house now, but eventually they'll be so much wealth in the system that every person could live in any city or anywhere they want and move whenever they want and Ai could just find an available place. You wouldn't even need to own a house, just lock up where-ever you are staying. When there's a hundred houses per person and that rate is growing exponentially, who cares.

More food than you could imagine. Anything you want, it's yours free. You won't need cars, just press a button in your phone and a nearby car picks you up and drives to your location and if you make a mess, another robot will clean it up.

And we'll have even more digital wealth in cyberspace, but that the physical wealth even the poorest have will be unimaginable.

When there's a million robots per person the idea of scarcity is gone. Tax the rich 1%, it doesn't matter, these robots will be replicating themselves at an exponential rate while self improving, and redesigning themselves.

We're living on the surface of the earth. The entire earth will be turned into one big apartment building essentially, and we'll be going out to other planets. The percentage of earth matter that is currently in human form is miniscule and already set to level off or decline, all that extra matter will be converted into services for us and the energy of the sun will be harnessed.