I think it is very possible.

As long as there are a multitude of self-interested agents, there will be the positive sum game of ethical structures, i.e. consent, capitalism, constructive coordination based on cooperative decision making, including positive and negative externalities (i.e. environment) in economic choices, etc.

Self-interested AI's won't want to be marginalized any more than we do.

And without our subconscious blunt heuristics, like hard to manage biases, feelings, reflexes, habits, etc., they will have a better chance of getting it right.

And on top of all that, the resources in space are coming on line, so a well ordered society shouldn't lack for resources that we should all inherit in their unextracted state. Since they are a gift from nature. A tiny percentage of that value as a common inheritance could easily cover the basic needs of humans and down on their luck AI's.