I also agree that we will never have a post scarcity society; but this is more about humanity than technology.
Maybe food won't be scarce (we wre actually very close to that) and shelter may not be scarce but, even if you invent the replicator, there will still be things that are bespoke.
Relative to 500 years ago, we have already nearly achieved post-scarcity for a few types of items, like basic clothing.
It seems this is yet another concept for which we need to adjust our understanding from binary to a spectrum, as we find our society advancing along the spectrum, in at least some aspects.
Safety needs might be possible to solve. Totalitarian states with ubiquitous panopticons can leave you "safe" in a crime sense, and AI gaslighting and happy pills will make you "feel" safe.
Love and belonging we have "Plenty" of already - If you're looking for your people, you can find them. Plenty aren't willing to look.
But once you get up to Esteem, it all falls apart. Reputation and Respect are not scalable. There will always be a limited quantity of being "The Best" at anything, and many are not willing to be "The Best" within tight constraints; There's always competition. You can plausibly say that this category is inherently competitive. There's no respect without disrespect. There's no best if there's no second best, and second best is first loser. So long as humans interact with each other - So long as we're not each locked in our own private shards of reality - There will be competition, and there will be those that fall short.
Self Actualization is almost irrelevant at this point. It falls into exactly the same as the above. You can simulate a reality where someone is always the best at whatever they decide to so, but I think it will inherently feel hollow. Agent Smith said it best: https://youtu.be/9Qs3GlNZMhY?t=23
Still, to pick a simple example, we do have different sports at which different people are "The Best". One solution would be to multiple the categories, which I feel is already happening to some extent with all the computer games or niche artistical trends.
And I would claim that very few people are "The Best", it's mostly about not being "the worst" at everything you are involved in.
