As the Bern has said, there is no such thing as freedom without economic freedom. I think everyone on the planet should have GUARANTEED the basic needs met, particularly shelter, heat, water and food. In modern times, access to reasonably priced health care is close to being a necessity, but it is probably not a right and probably you need to work to get it. But if the world can figure out how to give people nearly free health care in addition to true freedom, we are on our way to something truly brilliant. Finally, access to information and very reasonably prices education would truly round out the basic "needs", but now we are getting fuzzy.
We are already on our path down this way, whether people like it or not. The singularity that will change everything is the completion of an aware (notice I did not say conscious) machine that is essentially indistinguishable from a human being. I am not going to connect the dots on how each of the above will be a reality as a result - I leave that as an exercise.
The one worry I have is that population may explode. That will put exponentially more pressure on the finite resources on Earth, so we will have to temper our progress EVEN if we want and can achieve it all tomorrow.
Also, notice that I did not say people can't be rich. I am not saying you can't have billions and ten yatch an airplane a car collection and a 20,000 sq foot home. The above basic needs for all humanity does not preclude the other.