Most of that time, we were nomadic hunter gathers.
No one really knows what is "intrinsic" to human nature.
We only have records for the most recent 1-2% of our time on this planet. And that 1-2% of "recorded time" is by far one of the most abnormal periods not in human history (300,000 years), but probably one of the most abnormal periods in the history of life on our planet (4,500,000,000 years).
Your perceived "intrinsic" need may be true to our nature, but it's more likely a result of the strange environment we find ourselves in.
If you could talk to 100 people from all of human history, the majority of them would be hunter gatherers. You'd be lucky if you got a single person who even understand the concept of "history".