The problem isn't actually automation. If a job gets automated, now the thing being produced costs less. At scale it means you can have the same standard of living with a lower salary -- a boon for the poor.

The real problem is when some of the things have artificial scarcity. If we have zoning laws that prevent new housing from being built, the poor can't afford housing. If we have restrictions on the number of new doctors and regulations that create high compliance costs and barriers to competition in medical services, the poor can't afford medicine.

You can't make a robot to build housing for people in a place where there is effectively a law against building new housing. So that's where we get into trouble -- people building moats around stuff that make it more expensive, to prevent its cost from staying in line (i.e. declining) along with everything else, until those things are unaffordable.

The real problem is the high cost of housing and medicine and education.