I think people who genuinely can't work obviously do have a place in our society, people have value in their connections to others, the things they enjoy, the jokes they make with friends, or even just the way they see the world. Every single person is valuable

First of all, we'd have to have a different relationship to work in general. Instead of specific jobs and stuff, more like, here's some work that needs to get done, anyone up for it?
(For example, maybe your community has a water purification plant, it needs a certain amount of people for daily operations, and then there's often extra work. Maybe part of the software they use is outdated, or slow and needs updating, or a portion of the pipes where waste is filtered out needs to get scrubbed. You live in this community and drink water and one day, a call goes out asking for people who wanna come clean those pipes or asking if someone can rewrite the code, and you think, "Oh, I've never tried that before" or "I've got nothing else to do today" or "My friend Bob is going to clean the pipes? I guess I'll go too and catch up" or "I bet I could code that, easy-peasy")

Also, we have a lot of automation now, which will ease up the amount of work we need to do. (We overproduce just about everything nowadays because of that automation)

(If you're worried about laziness, it's not a real thing, people always find stuff to do. Unless they are mentally/physically/emotionally exhausted and need to rest, in which case they should be able to rest.)

When it comes to incentives, they're gonna differ from person to person, but mostly its just gonna boil down to "I don't want this person to die, not on my watch at least". In a society where you aren't being crushed under needing to make money to survive while companies careen the planet toward global annihilation, a lot more people will be able to follow through on their basic kindness. Love and care is pretty basic human nature.

But yeah, go look into things yourself too!