More to the point, we didn't evolve in an environment that included police. Police were invented in the 19th century (for largely questionable purposes such as racism and anti-unionism). For hundreds of millennia before that, we survived without them. It's true that there existed various forces of "authority" over that period, but these were concerned about people taking the authority's shit. A cursory familiarity with history and archaeology convinces one that "coercive and alienating forces" rarely prioritize the interests of the general public.