When labour and energy are free, there will be no scarcity of goods and services. Voluntary exchanges will only be that of individuals exchanging ideas and creative expressions. We are on the cusp of having the technology to achieve this.
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Labor is never free, because there is always an opportunity cost for the laborer. Energy will never be free because of physics. Automation and mechanization do not replace labor, they multiply its effectiveness and open up new industries that were previously unavailable.