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I like the idealistic idea behind UBI too, but I think the wealth gap will persist and grow more, with any form of UBI or other welfare as an excuse that the poors are being provided for, so they should be happy with that. The UBI on Earth in The Expanse is what we may end up with. The reason the population on Mars is better and doesn't rely on that is because it's much smaller and has a common purpose for long term focus and employment (terraforming). Interestingly, the canon for Star Trek might be along similar lines, as the Federation and the rest that follows only happens after the devastation of World War III.
When Draper visits Earth she learns that the Martian impression of UBI recipients being lazy isn't true at all, they're just trapped in the system with only a few able to claw their way out. By design, can't have everyone prosper, the rich might have to settle for less.
after the vulcans came to earth, they likely helped developed some of thier tech and gave medical knowledge too, although slowly instead of alot at once.