Do you think humanity will ever live in a post scarcity society?

I am wondering if humanity will ever live in a post scarcity society. I am asking this because there are many people in the world who do not have access to basic resources like food, water, shelter, etc. The rich have everything they need while the poor struggle to make ends meet. I am wondering if we will ever live in a world where resources are abundant and everyone has enough. Do you think that this will happen?