We already have examples of post-scarcity economies in history, idiots. Rome was a post-scarcity society. They handed out grain to all of the cities inhabitants, who were largely unemployed, and gave them free access to games that cost the state massive amounts of money. Bread and Circuses.
All the land was owned by the elite, all the labor done by slaves and soldiers. They literally had nothing to do except eat, sleep, and fuck, which they did.
Replace slaves and soldiers in that example with robots. Same thing. We'll have free food and media (to keep us entertained). In fact, there's a solution to the Fermi Paradox that states that once a society reaches a certain level, they stop expanding because they get far more enjoyment about of virtual reality. Basically, at a certain point anything they can do in real life can be -perfectly- replicated in a virtual environment, so there's no fucking point to actually living life.
Think about it. You want to enlist in Starfleet for adventure/exploration? Why? They can create an even more adventurous Galaxy for you to explore, while you don't risk your life when your anti-matter/warp engine inexplicably explodes like it does in every episode. Think about whatever you dreamed you want to be. You could do it, without the risk of death.
It actually makes sense as a solution to the Fermi Paradox. Why expand or conquer the Universe when you can literally do everything in virtual reality without having to die. The only reason to expand is redundancy, should your planet suffer a catastrophic disaster. But not enough to expand past a few solar systems.
That's the future.