Absolutely yes. In most measures, most people are better off than 30 or 100 or 250 years ago.
Life just keeps getting better and better when we look at things like life expectancy, health care, standard of living, number of people living in abject poverty (the portion of people world-wide living on inflation-adjusted $1 a day dropped from 42% in 1981 to 14% today), availability of air travel, astounding technology, and the rapidly dropping cost of that astounding technology.
That’s the overarching point of a new book, The Great Escape: Health, Wealth, and the Origins of Inequality, by Angus Deaton. The New York Times has a great review: A Cockeyed Optimist.