This is actually not true. There is enough food, shelter, and capacity for basic amenities for everyone currently alive to live comfortably. There are logistical challenges in getting the goods to the people who need it, but that's also technically possible.
We just can't all be driving Teslas and living in McMansions
I don't. There will always be scarcity unless there's some way to completely automate the entire process of farming and delivery, plus maintenance on all the equipment, plus all energy needs.
I don't really see that happening. At least not for 100 years or more.