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>Somehow we've made it the vast majority of human history without it.

That isn’t a high bar. It’s only recently that the greater accessibility of cameras and recording devices that we get insight into just how much abuse there is, such as that experienced by women or by police towards minorities.

A lot of people who live in dense environments are already surveilled every minute of every day, the surveillance is just not centralized. At home a voice assistant listens to everything, and the apartment building probably has corridor cameras. On the street cameras watch from neighbors with doorbell or security cams, store and parking lot security cams, traffic cameras, gopros, random streamers etc. If they work in retail most of their workplace will be on camera all the time. What would have psychological effects is an authoritarian nanny state monitoring those feeds all the time for any potential infraction, not the surveillance which is routine and actually pretty reasonable.

We also had quite severe punishment for crime by the current standards in the vast majority of human history. I'd be fine changing cameras for stockades and gallows, and dealing with car and bike thieves the same way we used to deal with horse thieves but would you?