I too was seduced by utopian visions of the future, the problem is that so many have to fly in the face of laws of nature and physics in order to make them possible.

My personal vision is more pragmatic these days, I have thought a lot about what makes capitalism bad and ultimately it is the sacrifices made to the solution in order to sustain the problem so the "solution" can continue to be profitable. Planned obsolescence, weak or fragile material choice, subscription plans to permanent goods, reducing or making repair impossible, and simply making products that don't adequately solve the problem (example: Oxo used to make amazing cooking tools, now half of the stuff I buy from them breaks within the first year of use, forcing me to look elsewhere).

A replicator would be an amazing technology to develop, but physics prevents it from ever being useful. A matter assembler more like what is seen in the book Diamond Age is far more likely to be seen in the future, as it relies on the same principles that make 3D printers practical.

Just because a society is more advanced and has access to more energy, doesn't mean the society will automatically waste more energy. Especially when adopting new technology means using a hundred thousand to a million times more energy to do the same thing as something more primitive (and safer, and lower maintenance!)

I think the most ideal future will be full of low cost, high utility items that everyone can own in the quantities they need to go about their lives, and focus on self development much like Star Trek. We don't need spaceships, sonic showers, holodecks, or replicators to achieve a healthy lifestyle for everyone, especially with increasing automation. Using as little energy as possible means as much energy as possible is available - meaning scarcity is minimized. We have to learn not to fight over the remaining scraps.

The deepest problems for us are societal - we are not distributing the efforts of our labor equally among our people, and that creates a sort of population senescence that reduces the fruits that society produces - we won't find that amazing garage band (or similarly culturally enriching thing) because they are all stuck working 9-5 jobs that society doesn't even need in the first place, instead we could install self-cleaning bathrooms and fully automated fast food and have 1 repairman in place of 30 workers, meaning we have effectively multiplied the productivity by 30x. The wisdom of the older generations should not be wasted on low-skilled jobs they are forced to work instead of retiring (unless they want to work, of course).

We absolutely have to reduce income disparity and take care of those who cannot work. We should house the homeless, heal the sick, and make sure everyone is connected to good people around them so we can all maintain good mental health. I think we can go a long ways towards improving these things with a combination of practical solutions, good design, and stop focusing solely on how much income we're getting from these things.