Universal Basic Income will help with this, as basic living expenses will be covered, assuming we supply enough UBI that people can afford this, which I would suggest is part of necessity for a healthy society.
What is money? What are taxes? It's all relating to a promise of a certain amount of work will be done. Do we generally do free things for our family, for our elderly parents, etc? Yes, we do. It's the idea of imagine if what everyone did was to work in service of others, where no money was exchanged - but if literally everyone is helping you - you will be 100% taken care of. With automation we can replace - or rather we can free many people's time that would otherwise be needed. The construct and culture we've been born into, "educated" to believe, is flawed in getting us stuck in a non-abundance mindset - into a mindset of scarcity. In some parts of the world, sure perhaps that is the case currently, however we have the resources and knowledge to efficiently manage everything so everyone is taken care of. And Elon's helping give us more room and be able to mine more resources from space as well. The universe is big, there's abundance - we just have to allocate resources properly - which includes not being destructive with war and violence.
