That becomes an interesting dynamic expecially between universal guaranteed income and universal guaranteed employment.
But the original question was how to provide incentive. Assuming able-bodied persons must provide some work, opportunities for advancement, more pay, or more favourable environment, and the prospect of less attractive work, remain. Military and similar environments provide models, e.g., latrine duty.
Most people would prefer some useful occupation, I suspect, however humble.
And again, with guaranteed employment, even the worst job would provide a livelihood.