The problem is, if we live in a capitalist-extractive society--and we do--there will NEVER be an opportunity for humans to do "whatever we want" because there isn't a profit for the rich in you doing "whatever you want."
The point of extracting your labor is to extract everything from everyone up to and including people dying.
*The structure will not allow the use of robotics to create human freedom because it doesn't allow for freedom by any means.*