I think it would incredibly more desirable for society to have a firm social safety net (housing, food, healthcare). We have the technology and means to do so without breaking a sweat.
If we try it and society stagnates, we can always tweak it to incentivize certain types of work. Myself, I believe society would see vast improvements when people aren't surviving and living in shambles. I believe many of our current issues would be quickly solved once we are broadly able to slow down and think for a moment.
Deserving or not deserving doesn't really factor into the equation. We need to create and build a world worth living in. I want to live in a world where people are more free, healthy, and safe - where work is directly benefiting our communities instead of people being forced to slave in hostile work environments to barely make it.