Yes and No. Depends on what angle you look at.
For example, the glaring headline can read:
Automation could kill 73 million U.S. jobs by 2030 (USA Today citing 2017 McKinsey 2017 report).
That is clearly impossible to offset by normal US demographics rate change.
But, if you dig into details of the report, it's nowhere near as gloomy:
In the U.S., 39 million to 73 million jobs could be destroyed, but about 20 million of those displaced workers can be shifted fairly easily into similar occupations, though they may take on slightly different tasks, the report says. That means 16 million to 54 million workers — or as much as a third of the U.S. workforce — will need to be retrained for entirely new occupations.
So, the best case scenario is 16Mil, not 73 Mil.
And, once you look into even more depths of the report:
Even under the more rapid spread of the technologies, the authors conclude that the six major countries they studied in detail, including the U.S., should be at or near full employment by 2030.
This is because most of the displaced jobs can be retrained in a reasonable way, anticipated new job growth, and anticipated economic growth due to automation-driven productivity increases. AND, as your question noted, also demographics-driven service job growth:
Also, however, jobs will be created from rising incomes and consumption, an aging population that will demand more health care professionals and investment in infrastructure and renewable energy, the study says.