We have this one power that is in the hands of the few that is highly relevant, and this is a power that is available to all yet rarely chosen: The Creation of Software. Automation is most scary when the conventional business-model is in play, when they design the bots and the interfaces to the point that they are so proprietary and locked-down trade secrets that alternatives can’t catch up. The biggest obstacle of this is the mass dis-interest in involving oneself with the non-consumer side of technology, especially with programming.
There is no reason that we can’t blend “work” with “automation” in a fantastic way. You can control a robotic miner remotely, you might even be able to control 10 or 100 per person. To increase safety standards, have 10 or 100 people control a single robot/drone.
Focus on making it so that the individual can gather their own resources for survival through their tools, no monetary system needed except perhaps credits for luxury. For those who need a large system to go through when missing the tools, this is where the 100-person-per-drone idea comes in. Non-participation to the extreme can still receive the lowest(but still healthy) Universal Basic Income-esque resources, but for a higher quality set of resources would be participation, eventually reaching those luxury credits and your own tools. Focus on knowledge-based economic models, to move from “work more” to “learn, teach, and create more” models.
Eventually, embrace the near-fully-automated system, replace the whole concept of “education for careers” with the “education of the upkeep of the automation”(back to programming and engineering skills), which at this point could be near micro-work levels of participation, leading people to choose the things they like to do without the nonsense overhead of “doing it as a job to survive”. For those who like the “for survival” concept, simulate it for them — plenty of “business” to be made in simulating old jobs.
All the while, highly embrace green technologies and find ways to harvest these resources as hardcore-environmentally-safe as possible(that’s hard work, back to the usefulness of 1oo-people-per-job), help rejuvenate the Earth.
I imagine there would be strong resistance from Earth, so if need be, leave their systems alone — they can keep the capitalism, corruption, and cruelty.
Offer a free ride out of there for everyone who doesn’t want to live that way. Go off and build new lifestyles, governments/non-governments/e-governments, new economic models, incentives, etc. Keep a shuttle system for newly-born human beings to keep the free-ride-out offer available— defend it vigorously if nothing else. Copy-and-paste this free-ride system to other worlds as a human right.