The fact is that most of the land is already owned by someone else. The land owned by the government is already a national, state, or local park, forest, or other wilderness area or is reserved for military or other government use; in other words, not land we necessarily want humans living on. So unless you want to force everyone to live under communism, you’re kind of stuck with the current system, at least until they automate everything.
If you are interested in doing what you described, I would look into joining a commune. It’s basically what you described: community housing, everyone pitches in, grow your own food, that sort of thing. It’s honestly not a bad life, as long as you don’t mind putting in the hard work. However, it’s the kind of work that leaves you feeling accomplished, not like working some crappy minimum wage job.