The public areas which were under surveillance on Star Trek tended to be only on military ships and star bases. I don't remember seeing much surveillance in public areas on planets. There certainly wasn't the sense that everyone was under surveillance on every street and in every shop, unlike most people in major metropolitan areas on Earth today. Nor was there anything on Star Trek like the ever-present spy satellites that can see in great detail anywhere on Earth today.
For the public areas which could be observed through cameras on Star Trek, the surveillance seemed mild compared to today because of Star Trek's lack of massive computers and artificial intelligence analysing what is seen for anomalies, using facial recognition, constantly recording everything and having those recordings instantly available for playback, sophisticated search, and computer analysis.
The reading and viewing habits of Star Trek denizens weren't recorded and analysed, unlike those of many people on Earth. Their positions weren't tracked wherever they went, unlike those of many people on Earth.
The so-called "24/7 surveillance" of Star Trek was very limited and even quaint compared to what we live under on Earth today.
Plus, most folks think ST is where hippies took over. Center of Federation is in San Francisco...