I'm glad that you recognize that it is a complicated issue.
You apparently do not see however that the combination of welfare and reduction in low-skilled jobs has created an underclass. Very simple in some ways, very complex in others.
No, I don’t see a permanent underclass based on technological changes. To the extent there is an underclass, it derives mostly from political acts, including anti-economic nonsense like the tariff idiocies being indulged in by Trump. It also arises from the leftist desire to maintain a permanent underclass as a bastion of power, either through voting, protesting, or outright violence.
In fact, barriers to entry such as a Luddite approach to preventing technological change, also create and maintain an underclass. As a result, prohibiting this new technology would simply entrench another underclass, not alleviate it.