So, the short, simple answer is, "UBI based on sales tax." The longer answer involves figuring out what an economy would be if it was based on humans contributing to their grandchildren's planet rather than pretending the planet is only here to serve "Consumers All" -Title of the USDA yearbook of Agriculture, 1957.

The problem with a "Mutual Aid Economy" is that it is anthropocentric. We are guests on this planet, not the purpose of it. So far, we haven't been earning our keep.