It's not freedom, it's laziness. We grew tired of holding mental ledgers of debts and favors to each other so we turned to a money system to ease that burden.

The same can be said for transitioning from hunter/gatherers to farmers in order to domesticate food. Meanwhile, that's where the slave/master dynamic was born.

It's too late to regress back to hunter/gatherer unless we're forced to, so why not try to progress toward an egalitarian utopia on the backs of robots?