Any time this argument gets trotted out it's using a baseline of European post-agrarian feudalism. There were definitely peoples in the past who enjoyed a high quality of life for many generations, but they tended to be small groups concentrated in areas of abundance, and were usually among the first to be exterminated by outsiders.
The fact that the industrial revolution created better life for most people doesn't prove an AI revolution will do the same.
The classical counter-example are horses - the industrial revolution increased the demand for horses, but once the cars became cheap horses numbers and jobs drastically decreased.
Agency is only half of the equation. The other half is opportunity. With Industrial Revolution, horses had neither. With AI revolution, people may retain agency, but I doubt there will be many opportunities available.
People just don't realize how good today is compared to the past - and of course, how good the future would be (nuclear war notwithstanding).