> My expectation is that the social contract will change if most labor can be performed autonomously.

Before the industrial revolution, 80-90% of society worked in the fields, in agriculture. It would have been a quite obvious prediction to say that once machines can do most of that work, people would just have a lot of free time and hardly work anymore. Look how that turned out.

I'd therefore be skeptical of predictions saying we'll all work less. 40 hours a week were a thing 100 years ago when productivity was much lower, and it has not changed since.