I think the key would be to make sure that people are paid not too much so that the low paid, menial but essential jobs are still filled
You don't need to worry about that. If those jobs are really essential, then they won't remain low paid; the salaries will increase until they find people willing to do them.
Of course, it might be weird to see dishwashers earning more than programmers, but on the other hand that won't last, since it'll create plenty of business opportunities to automate them.
In my Grandfathers generation, attendants pumped gas into cars. People pump their own gas now. The world didn't end.
I've never seen a shoeshine boy other than in movies.
I expect a lot of jobs would simply disappear and no one would really mind. So you'll have to bag your own groceries, well, OK then. Hmm this store doesn't have any garbage cans or bathrooms for shoppers, interesting, I guess that means they don't have to maintain something that isn't there. My local bank branch no longer has tellers, its all on the insurance agent model where the local branch is a cheap one room office in an office park, or its all online, I was a customer of NetBank for many years until their downfall, which was nothing to do with customer service, they were bought by a subprime mortgage broker trying to diversify who obviously went bankrupt, no branches was never an issue.
You don't need to worry about that. If those jobs are really essential, then they won't remain low paid; the salaries will increase until they find people willing to do them.
Of course, it might be weird to see dishwashers earning more than programmers, but on the other hand that won't last, since it'll create plenty of business opportunities to automate them.