A nice side effect of UBI is that this scenario you describe, plus the hundreds of other undesirable jobs that people are forced to do now to have shelter that thus subsidize their real costs would be hugely pressured to automate them.

In a UBI economy the economic pressure to get self driving trucks would be an order of magnitude greater, creating financial incentives for Google et al to pour more money into AI research to achieve it because the market value is so much greater when truckers are demanding much higher pay to justify the labor when they have a choice in it.

The same would apply to an automated garbage truck that can use CV to scan refuse and collect it via a standardized bucket system rather than having two impoverished desperate humans cling to the back of the truck being paid dirt to do one of the most dangerous jobs in the country.

UBI would probably be the most beneficial policy to spur the R&D that gets us to singularity the fastest.