Just distribute the fruits of the automated labor.

The robots and automations are like the trees and bushes from our gatherer's past.

People would just take what they needed. No one would say: you are not allowed to take a berry from this bush because it's mine!!!

This would require some pretty huge cultural changes. People's modern sense of fairness, duty, and competition feed into stratification and instinctual tribalism.

We could just make more robots instead. If the robots are building robots then there's no barrier there.

Why is the utopia predicated on less people?