More importantly, I'm curious how you define an ideal human society. How do you land on what ideal is, or what it would take to get there?
The question is in what context does the human psyche thrive? We find meaning in personal struggle and overcoming obstacles. We're happiest when we're striving for something out of reach but seemingly attainable. We're much less happy when we have all of our needs met but have no source of meaning or fulfilling struggle. Our evolutionary history is one of struggling against hardship and finding personal meaning in the process. This is a core feature of our psyche and it is to our detriment to eliminate it.
This isn't to say we should all be struggling for our next meal. Much like cats, our core drives can be exercised and satiated through a simulacrum. There are many ways it can be satisfied, but strive we must, against something with inherent meaning to us. The problem with AI fully realized is that it takes away most avenues for human achievement, thus the struggle loses all meaning.