Maybe. Robots for blue collar work don’t scale the same as white collar work. Even if AGI were created today, it would take a long time before we can make enough construction/farming/manufacturing/etc. robots to take the place of billions of people. In fact even if robot growth were exponentially doubling each year it would take ~30 years to reach 5 billion robots. (I’m admittedly ignoring some important factors as to why we might need UBI sooner than 32 years)