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The Expanse briefly mentions this in one of the books. Earth has universal "basic" income but if people want to go to university they have to do 2 years of working less desirable jobs to show they can handle working.

I heard that Starship Troopers book had something like what you described but I haven't read it.

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In Starship Troopers, as I recall, you had to serve for some period in order to be a citizen/vote. I don't remember if this was necessarily military service (although that is certainly what the book highlighted).

Nit: Basic in the expanse is not actually basic income, it's more like basic services: https://twitter.com/jamessacorey/status/902940152007462912

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