Yeah... I think these two things are true, but they fly in the face of each other:
It's true that we're generally evolving into a more egalitarian society, and there seems to be a natural move to things like universal education, healthcare, opportunity, etc. I think renewables and the ability to store power is really going to change the game. Imagine being able to own, generate, and share your own power.
It's also true though that our planet is sick. We are going to start dealing very soon with environments that leave resources more scarce, water less clean… potentially in some serious ways. If the Atlantic ocean changes a few degrees… oh boy, the fish population starts to shift, and things could get really harry from there.
So will we get to this Roddenberry-esque future where medical cures are freely given out, where things like homelessness and discrimination are wiped out, as greed and self interest slowly faze out of our lives?
…I’d love to believe so. But it does seem more likely that we’ll face massive changes in climate, agriculture, immigration, etc before then… and things are going to get worse before they get better. When resources start to dwindle, the otherization will get dialed up to ten. We’ll revert back to our animal nature - only concerned for ourselves and close family.