This is the R-libertarian aspect that uses the refrain of "You cant make me".
And I agree and disagree with you. Yes, we can make you, governmentally speaking. However there is a different way out: automation and robotics.
We could live in a society that we strive to make more and more automated solutions so that all can benefit. Solar means effectively free power. Food generation allows food to be made so cheaply that the cost is inconsequential. Transportation, same thing. (Yeah, you might not "have" a car, but you can summon one whenever you need.)
If you want to rehash old failure modes of capitalism, so be it. It's a 300 year old system that's bursting at the seams with failure modes everywhere. Communism isn't exactly much better - in that system you trade one master for another.
A mix of socialism, capitalism, and a healthy amount of automation would work. And the machines that produce essentials should be owned by all of us, with the benefits from these going to all of us.
That would maintain no forced working by people, maintaining freedom, AND cover the essentials of all citizens. No?
I think the vision you described is already a reality. Thanks to technological advances (incl. automation), a day or two of unskilled labor (in developed countries) earns you enough money to eat for a month. Compare that with the lives of farmers from before the industrial revolution, where they toiled for months and still often didn't produce enough to feed themselves.
As long as the goods required to survive (food, housing etc.) don't materialize out of thin air, it makes sense to expect people to work for them.