For roughly 99% of the history, 99% of the humanity was poor, hungry, dirty, afraid, stupid and sick. In the last 200 years, that has been changed.
Average salaries are way higher, and less people die from diseases. Between 1994 and 2014, internet access rate climbed to 40% from 0.4%
If you've asked medieval civilizations to describe an utopia, it'll be something like "Land of Plenty" (Cocknaigne). But we are already in some sort of a land of plenty.
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It's an era which biblical prophecies came true. Blind people are starting to see. Cripple people are starting to walk.
But it's a bleak paradise. There's a crucial thing we are lacking: a reason to get out of the bed. We stopped making progress, which is the realization of utopias. We can't imagine a better world because there's no dream to replace the current state. Children born today will be worse off than their parents.