First, the disagreements: no, driving and cooking are not hard tasks to automate. They are stupidly easy if you decide to create the infrastructure for that. You have industrially cooked food, mostly through automated process, in supermarkets, sold as "prepared food". and actually, many cheap restaurants will have several microwaved prepared food in their menu items.
Automatic driving is a very easy task in roads and cities that are designed for it. Instrument all bus lines with ground wires, put a radio beacon on each crossing and sign, a front radar/lidar to detect obstacles and 90s tech is enough to automate a whole city. If it was desired, we would already be there.
Now, like you point out, there are many tasks that bring joy and people would do voluntarily. Said otherwise, there is a non-null amount of volunteer productive work.
Ergo, the goal of automating a society is not to automate 100% of the work, but to automate (100-V)% where V is the amount of voluntary work available.
"But I’d rather order a meal from an expert chef than a robot."
It would be interesting to make a Turing test for cooking. I am sure that there are many robot-made meals that are undistinguishable from chef's preparation.