Or if a “Star Trek Socialist Utopia” moneyless future is actually possible at all.

It absolutely is. We could have something not too dissimilar from it right now, there is literally enough of everything people need to fill that need and then some. There’s also plenty enough of even large swathes of “luxury goods” for everyone too. But the greedy hoarders that rule us all won’t allow such a world because then they couldn’t be greedy hoarders or get to rule us all.

I’m with you on all the rest of what you said, though. It is more ideal to eliminate the need for people to have to do the kind of labor they don’t want to do. But I also still think there will always be people who enjoy certain types of labor that most of us would rather not do, like waiting tables. And in a world where mostly only robots did that, what a nice perk for someone who is sitting at a table to get waited on by a real person who greets them and is genuinely interested in helping them out. There’s no reason there isn’t room to make that happen too.