Who is going to scrub the toilets and change adult diapers in the meantime?
Read B. F. Skinner's "Walden Two" for some ideas how to handle this. For example, a society could dynamically / periodically adjust revenues for jobs less preferred and lower revenues for jobs most liked.
That is, if you get enough "perks" for one day oft scrubbing toilets and then four days off, someone might prefer this over five days of toiling in a bank? ;-0
Point being, lots of life is messy and rote, and presuming a fantasy world where the messy and rote parts do not exist or are taken care of by robots is a waste of time (in the near future).
The common person doesn't see all the opportunities and stays right where they came from and that's not really who we should be elevating in my opinion. Of course someone born with privilege would naively feel guilty that others weren't born with it, but that completely misunderstands what privilege is. If someone born into privilege feels guilty, it's probably because they don't deserve it, and I'm speaking as someone who wasn't born with much. I think I'm just barely above average enough to get away from the crap I came from.
There I said it.