"We" lived in feudalism? Do you speak for the entire world? Remember that there were peoples that were conquered by industrialist empires who had more equal systems than feudalism or than what we have right now. Communities in the Amazon or isolated Pacific or African islands (and deserts in Africa) have had more equal societies than the USA today and arguably were quite happy till their partway-utopia was wrecked by technologically advanced people. This gives me little hope for people pitching AI leading us into a better society unless the hearts of the people with the power are trustworthy and faithful to promoting good for people rather than profit for themselves.