"There will always be a need for someone to wipe down the tables, mop the floors, and take out the trash so a few minimum wage level positions will linger on." Hah, yeah right. Boy is the author gonna be surprised when those jobs get automated too.
That eliminates the day labor, you would probably still want a weekly cleaning crew to come around and get in all the nooks and crannies, but it is also reasonable to design buildings around being robot-maintenance friendly, and the more and better of a job the robots can do the less often you need the cleaning crews coming through until you never need them anymore.
The problem right now is that buying a robot that can wipe tables is a large upfront expense few places want to eat up. Prices will come down, though, as they always do. The cost to manufacture machinery is fairly fixed by volume in the endgame anyway, you just have to overcome the R&D costs.