What exactly do you mean by replace? Replace in particular roles (causing the humans to shift into new roles), or replace as in nothing useful left for humans to do? Those are two very different trajectories.

So far in the industrial revolution we have been experiencing the first. Waves of automation that displaces workers in one role, and then new roles open up for humans (often involving the machines). I believe that for the foreseeable future human + AI tools (symbiosis) will be a much stronger than AI alone. Of course it will tend towards more and more AI per human over time. The same way modern manufacturing is "machine tending", where a few workers might supervise a factory that outputs what would have taken thousands of workers in the past. If the thing being produced is has unrealized demand, then we would expect that being able to do it more effectively would just mean more production, possibly to the extent that the same or even more humans are needed to produce it. So the real questions are - which things does humanity have a lot more demand for (2-1000x) - and can be made more effective with AI in the loop / on the team. And the flip side, which things are we near max demand for, and can also be made more effective with AI. Jobs in those areas are going to be decimated, move away as quickly as possible.