No one can 3-d print their own food or land. Start there. Clothing for free? Huh? Solar panels and batteries (ie energy) for free? Etc.
It amounts to: robots (physically manifested AI) + digital AI ==> any job can be done vastly better than any human.
Consequently, goods and services will far outstrip what any human can consume. We'll end up with deflation.
So we won't have to work and won't need money. Very exhilarating and scary road ahead, but there's no way to stop it.
Everything is still run for profit. To shift into abundance mode, we need to give up this economic system entirely. Become the Star Trek economy, not Star Wars or Dune. Maybe the path is to have every government, or the most influential, become so f'd up with things like debt that they decide to blow up the current system so they don't have to actually pay anything back? I mean, the ability to deficit spend shows that actually having money is irrelevant anyway.
Producers will keep making products until they suddenly can't sell them for more than the cost of inputs anymore, by which time they'll already have amassed a pile of unsold inventory. They'll increase production capacity until they can't run their production line profitably anymore, by which time they'll already have amassed a pile of superfluous machinery. And so on recursively along the supply chain.
So the creation of robots that can do any task a human can do will most likely cause a boom in robot deployment that suddenly ends with an oversupply of robots. This oversupply won't necessarily be enough to achieve abundance on its own, but fortunately widespread unemployment will make human-provided goods and services very cheap, too.
Think about this social disruption: if money doesn't have meaning, what does the plutocracy do to stay relevant and keep their islands and relative wealth? How will those things be defined?