Everyone wants this. No one knows how to make it happen. Heck, even the TV writers stopped believing in it and they still had access to replicators and transporters for their storytelling.

Compared to Medieval times we might as well be living in a Star Trek "utopia" already. Look at all the technology in a modern apartment: modern insulation and soundproof construction, modern windows, electric lighting, indoor plumbing, stove, air fryer, microwave, laundry pair, computers, phones, TVs, the internet (with unlimited media to consume)...

What we don't have: equality. Medieval peasants can definitely relate to that. Our lords have different titles than theirs and ours have the police instead of their own soldiers. Otherwise, not much has changed. Turns out that human nature doesn't disappear just because we have more resources. People aren't going to give away their own wealth just to lift up their neighbours.