Technology has a history of reducing costs, and pushing the ratio of automation-to-labour to infinity (i.e. 100% automation) should technically give us free goods (or almost free). Technological improvements has done it for some time.
Take books / knowledge for example back 600 years ago, a book would cost several months worth of an average salary to buy. Guttenberg improved things, bringing costs down to "a few weeks worth of salary" and in early 1900s, it was down to a "few days worth of salary". In 1960s, my parents bought a 10-volume encyclopedia set for the equivalent of about 1 week of a carpenter's pay. In 1995, I bought a $40 Encarta encyclopedia on a CD and now there are numerous free ones available online. Over a period of 600 years, we've gone from about $25,000 (inflation-adjuated) to $0.00 for a book of knowledge. Transcribers, illustrators, editors, encyclopedia salesmen (that was a thing) lost their jobs.
Food went the same way. Going back 200 years, an adult would have to work 70 hours per week to just buy enough food to feed a family. Now, someone can work minimum wage for less than 1 day and feed a family of 4 for a week (in Canada, not USA yet). It's still expensive, but automation brought food prices down to what our ancestors would consider to be "almost free".
So, over long periods of time, automation has brought prices nearer zero for a lot of products. Our need to work has declined too. Full time work used to be 3000-4000 hours and it is now 1,500 hours (in Canada and even lower in Europe after reduced work weeks, vacations, sick leave, maternity leave, etc.). Over time, our time was confiscated from businesses and given back to us. In the VERY long term, it's taking us in the right direction. I have no doubt that robots and automation will further reduce our costs and the labour required from us. It's just a matter of a LOT of patience, and a matter of how quick governments and society will adapt to the breakneck speed of today's innovation.
The last frontier and biggest obstacles are energy and real estate.