I don't doubt that people can be content with agrarianism, but worth remembering the inherent bias in recorded history towards the rich -- before the 19th century it seems very few people could read and write. Textual records are views of people who were relatively wealthy. I think that's true across cultures?

If you look at historical records of slavery, for example, you'll find "most people prospered", the people dying in cages weren't writing journals.

You have the writings of people 500 years ago who could write. That was not that common.

Humans can adapt to sleeping soundly next to a literal pile of garbage and feces (homeless drug addicts that I’ve seen in some third-world cities) but that doesn’t mean they “feel comfortable.”