That would be nice…and, if life expectancies and living standards are high enough, and if resources are easily renewable or essentially unlimited, then such a civilization might be possible.
I do see a problem, however: ambition. As we’ve seen with so many conquerors over the centuries, “more than enough” was never enough. The goal wasn’t resources, but their own power and glory. I fear this is one demon that humanity will always carry with it…but that’s not necessarily a bad thing, for without ambition, the desire to accomplish a personal goal no matter how many get hurt (or killed) along the way, would we really grow and achieve as we have? There is a strong case that much of the modern world owes its current makeup to the Mongol conquests that stretched from Korea to the Nile. They didn’t need to conduct those conquests, but were only abiding by the direction of Genghis Khan, who told his sons that it was essentially their destiny to conquer the world.