The world described by Lanier is very much one in which people can live without caring about earning money to survive: "subsistence" will be dealt with by robots.
I see that as a liberation.
Of course there are other problems but solving the 'earn money or otherwise live as a pariah/die' seems to me interesting.
Work is much more important for man than a mere means of making money, as I see it. If it is just that (emphasis), then the feeling of slavery must be great.
Which is probably what a lot of people nowadays feel, sadly.
EDIT: [Just not to look too 'asinine']. Obviously I am aware this is utopian. Please bear with me. However, the abstract reflection stands as it is.
And, by the way: it is important to realize that what is 'dirty' for some is 'beautiful' for others. Even law enforcement and (I've lived with one) even 'Administrative Law'. Yes, even pig-herding and trash-cleaning can be seen as 'liberating' works.
It is not what you do: it is what you aim to.