Markets can efficiently allocate resources and they also foster competition. That enables decentralized innovation and optimization.

A major error of many leftists is to see markets as undesirable. There are always markets. Rightwingers often confuse an unregulated market with a free market, which is very misleading. Markets need regulation in order to be free.

Markets are fine for distributing excess materials and labor, once people’s basic needs are met

You can achieve that for example by having the market for housing and food be dominated by publicly owned enterprises.