Technically they did theorize it -- for instance Plato's (I think) thought experiment about how we wouldn't need slaves if we had sufficiently advanced automata.
--- John Thornton <jthorn65 at sbcglobal.net> wrote:
>
> There was no time when people could not theorize
> about how life would be
> without slaves. they simply chose not to theorize
> about such a society
> and to maintain the status quo.
> How would one theorize a moneyless society that was
> not in the mold of
> anarcho-primitivism and would not be more
> exploitative than capitalism?
> If no one can propose any seriously plausible theory
> about how such a
> society would be structured then imaging oneself
> working towards that
> goal is literally insane.
>
> John Thornton
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