The ~revolutions~ that need to happen for something akin to an utopia to happen are more akin to, say, the industrial revolution rather then some sort of political revolution. I mean sure, political revolutions will happen, but only as a result of the revolutions that will have to happen first in order for something utopia-ish to happen.
We'll have to change our idea about human labour altogether, just like our concept general efficiency will have to change (it'll become a lot more important overall). As a result of this, the basic structure of states will have to change to accomodate the technological changes.
We're already past the point that government regulations are a good way to take care of problems that arise from technological progress, too. Soon it'll be the technological progress which will dictate the need and ways to deal with problems that arise from government regulations/structure and society.
For example, you can't just go "omg AI is scury" and outlaw the development of generalistic AI on your nation because other nations will keep developing it, and then your nation will be at a major disadvantage, and the only way of dealing with that kind of scenario is also "be part of the problem" (like the nuclear weapons issue, you can't just outlaw and destroy it on your country and then hope everyone else will).
IMO, an actual utopia will only be somewhat possible when we have a full grasp of nanotechnology, which would put us at a star trek eske post-scarcity scenario thing. Only then we'll be truly able to live/maintain society without the constant need for human labor. Support programs are ok, but they don't work forever, since scarcity is a thing that happens to exist (something apparently a whole shitton of people don't seem to understand), and humans don't generally enjoy being piss poor.
So, as long as scarcity exists, social inequality will also exist, because people always want to live confortable and as worry-free as possible lives, and in every society there are people who are way more able of achieving that, either due to personal skill, advantageous position or more avenues of opportunity than others.
So ye, you can go and make robots work and set up support programs for the people to live off from, but that isn't going to work forever. Shit's gonna go down sooner or later.