Sadly, it seems that these institutions are prone to a kind of rot that means you can't just set them up once and forget. You need constant vigilance against these institutions corrupting themselves. Vigilance requires attention, not just from officials, but from journalists, media, the public. We're all so damn distracted that things are now rotting faster than ever.
The robots in Asimov's story are basically uncorruptable. The closest modern example I can think of is encryption + bitcoin. But governments while they can't break encryption can go after exchanges and enact harsh legal penalties thereby extending traditional power structures.
Would a neuralink+pocket AI get you out of any situation, even a government coming after you? Would personal faster-than-light ships allow everyone to escape to their own worlds?
The fact that these examples are so fanciful shows how entrenched power is I'd say. But maybe some single advancement will provide a new modality, or a continual buildup of decentralized tech like torrents, crypto, blockchain, encryption, and cheap computing power.
And as far as cultural changes, maybe that was one purpose of ancient gods. To posit a supernatural power that can destroy any man-made power. But religion also seems to entrench worldly power on the flip-side.
(sorry for the semi off-topic)