Both Vyr Cossont and Ngaroe QiRia are so bored with their meaningless existence that they have to go out of their way to invent “life tasks” and other challenges to immerse themselves in.
Not to mention the scene where a ship mind casually crushes the spirits of Vyr by perfectly playing a piece on its first attempt that she struggled with for years!
While there are some types of people that would be bored and would struggle in Culture-style utopia, I think for overwhelming majority of people it would still be a massive improvement over today's world.
It doesn't.
>struggle [...] hardwired into living beings, without which they wither away
The reason Sisyphus is happy (or so we imagine) is not because he's struggling for all eternity