I feel like a lot of the malaise that comes from unemployment/underemployment are due to employment being the standard structure of society. The constant fear and anxiety of failure and poverty hanging over your head while you ponder how you actually want to live your life. Without employment you're not a functioning member of society, our cities are entirely built around there being places to work.

There would certainly be a transition, we and everyone else currently alive are born into this world. Accepting change is always difficult. But I don't see why society wouldn't be able structure itself around different systems. Clubs, associations, societies, performance, athletics, childcare (we're not gonna have robots overseeing kindergarteners), education (people still want to learn things that are already known), friends, family. Hell, join a farmstead.

Structures and systems that could replace obligatory employment have already been conceived. They're just limited by the need to function within a capitalist system. They're marginal to employment because almost everyone requires employment to function within society.

There'd probably be a meteoric rise in virtuosos and elite athletes in less financially rewarding sports given there'd be no fear of failure and poverty preventing talented people from pursuing their chosen craft to the utmost. Doesn't matter what AI or a computer can do, we'd still want to push human capabilities to the limit. And there'd still be prestige associated with such pursuits. (People still care about Chess and Go in a post Deep Blue and AlphaGo world)

The generation leading into this world would certainly have its members who struggle without the societal structure of employment. A UBI/welfare-based society would encounter challenges since we'd still be talking about a world based around economic (un)employment.

But I can't imagine the people born into and growing up in a truly post-employment world would view ours - riddled with poverty and people performing tedious busywork such as it is - with anything but horror.

Along with all of the intangible benefits that come from children no longer starving, people no longer living in eternal debt and eliminating the crime and instability that comes with systemic, generational poverty.