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There's a huge gap between the current situation and a system where people on welfare who choose not to work are able to live "comfortably" in perpetuity.

Somewhere within that gap is a decent system where poor people don't starve but are still incentivized to improve their situation.

I also don't really see how having children relates to any of this.

On the other hand, automation will probably force us into a welfare state one way or another.