What sort of income disparity is there when everyone is on utopian abundance? Utopian abundance is specifically, according to the game's description giving everyone nearly (I suppose if someone wanted to own a literal star, that would be hard to do) unlimited access to any luxury they desire. If rulers are given more than the workers or unemployed, you're not talking about utopian abundance, you're talking about for example academic privilege, or some other living standard option.
If you live in a world where automation has taken over the vast majority of low-skill work, you can't know for sure that the population looks down on unemployed people the same way as we do today. People look down on unemployed people because they view them as a strain on the economy. Someone else needs to work twice as much to support an unemployed person in addition to themselves. When the manufacturing capacity of an empire gets so enormous that they can afford to just give any material goods to any person for free, the rationales for looking down on these people fall apart, because an unemployed person is no longer a significant strain on society. Over time, the social norms and taboos might very well change in such a way that no one really thinks much of it.
For the record, I do not need to imagine your situation. I have been an unemployed person in the past. It was not very exciting and I did feel bad for using other people's resources to keep myself alive. I was however well fed, had a place to live, and things to pass time with. I did not feel any desire to start pushing drugs, or stealing in order to get more material goods. Had I not received enough funds to buy food, the chances of me turning to crime would likely have been much greater.
Utopian abundance isn't just giving people a selection of goods you think will be enough to please them. It's having luxuries more easily available than most people on present day earth can imagine. It's not just having "a car" given to you for free. It's having a Koeningsegg given to you for free. And then another after you crash your first. And another. This isn't possible in our world because the expertise and materials needed to make such an item is very limited. 400 years from now, your apartment complex' 3D printer could make you such an item in a few minutes from nothing but a mineral paste made from recycled goods. Anything you can imagine, manufactured to your specifications in the blink of an eye.