Of course there are limits in a finite universe. However there is ample energy and matter on earth to allow for all of us to enjoy a very luxurious lifestyle so long as we don't let a handful of selfish people try to hoard it all.

The only real possible shortage is land. Even so, in a post scarcity world a lot more of the earth's surface and oceans will be habitable because proximity to fresh water, infrastructure and jobs won't matter anymore.