First of all, "Basic economics/psychology informs" does not constitute empirical proof that UHC leads to decreased "innovation" (which is a weasel word in itself).

Second, even if we granted the premise that UHC leads to less healthcare innovation, this doesn't mean that there's "infinite harm" in to people in the future. Unless you're claiming you have a crystal ball, there is absolute 0 epistemic basis on which to make this claim. For all we know, not having UHC leads to nuclear war and we all die. Or, having UHC leads to the singularity. Etc.

Third, even if we grant that there's an innovation advantage to for-profit medicine AND we grant that you can predict the future, that still doesn't mean that there's "infinite harm", precisely because "harm" is comparative. I would argue that we've picked most of the low-hanging fruit of human medicine and that the marginal utility produced by new treatments is far outweighed by the human suffering of our for-profit system.