Answer:
Maybe and no.
Step-by-step explanation:
To answer this question, one must first understand and define scarcity. In one's definition, scarcity is the limited access to a needed supply or the inability to obtain a needed supply.
Following this definition, we can apply this to disparity found throughout the world. The two types of scarcity that are faced daily are natural scarcity and artificial scarcity. Natural scarcity is simply the lack of the necessary resources needed to provide a certain supply, think gold. Artificial scarcity is simply the control of a resource that isn't readily available to the masses although it could be easily, think drinking water.
As there are a finite amount of resources on the planet, the answer to the question "Will we ever live in a world without natural scarcity?" would be no since we can only harvest resources so quickly, and eventually, the resources will be depleted. The only way to solve this long term, it to find resources from other terrestrial bodies, such as asteroids. In the short term, this could be solved by increasing production, but that could lead to other potential problems.
As there will always be the unaccountable "human factor", the answer to the question "Will we ever live in a world without artificial scarcity?" would be maybe. As humans don't place the same value on things or each other, it's impossible to say if we as a species will ever eliminate artificial scarcity. An assumed large portion of artificial scarcity comes from human greed or indifference, since we as a species have the means to help one another, but for some reason or another choose not to.
One could hope that in the future, artificial scarcity will be eliminated, and an alternative resource stream can be found to extend the inevitable natural scarcity.
Hope this helps.
Cheers.