I used to have your view about this too, but I've lost confidence in your premise that "society works and thrives when we've a common goal".
I don't think we can really know what makes society thrive, and some of the traditional measures like unemployment and productivity may not be the right ones to use.
I think the answer is in some sort of UBI, where everyone can have a base level of existence for "free", but if you want nice things, you have to work for them. It seems to me that we would hit an equilibrium where everyone who's content not working can leech a little, but people who do want to work will have much greater rewards and would be higher quality workers.
Based on the number of people that I've met who are concerned about status symbols and having the latest and greatest toys, I suspect we'd see most people actually working in a UBI scenario. We would certainly see more risk takers, which could be the best possible thing for society.
I'd like to think that I would have founded a startup by now if I didn't need an income.