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Yes, there is technological progress, no doubt. But I think a better measure is human happiness, not gross domestic product or consumption. And I observe 90% of the Earth's population struggling to make the ends meet. Just travel the world. Health care is undobtedly better overall, but most cannot afford it.
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No, stop having these bad ideas in your head. We made things, it's why humanity is better, healthier, richer, safer etc etc than at any point in history. There's no future prosperity we "stole" to make that happen.