I would be nice to make everything free, but some things are defined by their resistance to distribution.
Still, that being said we can acquire a high degree of ubiquitous material wealth if we do three things:
1. Reform IPL to make all code free as in speech and beer. Privacy could still easily be respected. In fact copyright enforcement and privacy of correspondence are mutually exclusive. (To program the robots.)
2. Deploy nuclear reactors quickly to provide the bottom of an anthropocentric materials economy food chain. (To power the robots.)
3. Develop an open source humanoid robot, recharged by the reactors, and instructed by ever evolving shared open code above, to automate any labor task we need done yet are unwilling to do personally. (To have the robots.)
With those things accomplished, essentially everything would be free. Certainly anything that could qualify as a basic human need.
In the mean time we absolutely could deploy a UBI and give everyone a piece of their human inheritance.