You make some valid points. I think one way these will be addressed is through the advancement of technology. If we can get to a place were robots and computers (AI) can take care of most menial tasks, and energy is renewable and abundant (free), we will not have the perceived scarcity and fear of meeting our needs. We will be able to get rid of money and everyone will have necessities and even physical wants available to them for free. I believe this will dissolve a majority of the crime and even unethical behaviour in society. At this point it will be easy for people to freely agree that they are all better off if they work together and at the same time respect each others freedom.