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Another (very weird) counterpoint: you might not see the "swarm coming" because the annexing of our cosmic endowment might look way stranger than the best strategy human minds can come up with.
I remember a safety researcher once mentioned to me that they didn't necessarily expect us to be killed, just contained, while superintelligence takes over the universe. The argument being that it might want to preserve its history (ie. us) to study it, instead of permanently destroying it. This is basically as bad as also killing everyone, because we'd still be imprisoned away from our largest possible impact. Similar to the serious component in "global poverty is just a rounding error".
Now I think if you add that our "imprisonment" might be made barely comfortable (which is quite unlikely, but maybe plausible in some almost-aligned-but-ultimately-terrible uncanny value scenarios), then it's possible that there's never a discontinuous horror that we would see striking us; instead we will suddenly be blocked from our cosmic endowment without our knowledge. Things will seem to be going essentially on track. But we never quite seem to get to the future we've been waiting for.
It would be a steganographic takeoff.
Here's a (only slightly) more fleshed out argument:
If
then deception could look "steganographic" when it's done at really meta levels, exploiting our more basic metaphysical mistakes.