Post-scarcity, infinite frontiers. If you don't like who you're with, you are always, in all cases, free to go somewhere else. Post-scarcity means no relying on others for survival resources, or even for most luxury items, even if you're alone. You can choose to join whatever social group will let you in, and surely there will be many, and surely many of them will be large. Your group can rule itself however it wishes, and have some power over its environment, specifically any group has the freedom to be democratic, autocratic, whatever, where the primary power of authority is the ability to kick someone out of the group. Freedom of travel, so that moving from group to group is essentially effortless.
If you want to be lazy, a post-scarcity world will let you get away with it, alone or with whatever others you wish to share your laziness with. If you wish to work hard, to create art, you can share it. Let AI control resource production and the means thereof, so long as there is always enough for all. Anyone who wishes to provide for themselves can still choose to do so, in whatever partial or whole capacity they wish.
Children stay with their parents, but can go anywhere freely at age thirteen. (Before then, parents may allow them to leave, but can recall them. Want to let your kids go join some crazy Ender's Game thing, or hell, some Lord of the Flies thing? Oh, why not, if they want.) They're required to accept some form of communication from their parents until age sixteen, which is the age of majority.