Utopia is not something that is achievable. The world will never be perfect.
But we've achieved so many things that used to be considered the hallmarks of an impossible Utopia. Do you realize that less than one person out of ten thousand dies of homicide now? Less than one out of fifteen hundred of starvation? Nearly all of our children survive to adulthood! That's incredible! Or at least it would have been back when the word was coined.
I think the key thing to understand here is that these are things that most people instinctively want. Most people don't want to live in stress from a perceived danger. Most people don't want to see children die. Most people don't want to see a starving human.
These are all diven by deep instincts.
But when it comes to more subtle social interactions and especially the tradeoff between egoism and alturism the line is clearly blurred.
In general, things that are decided by culture are more prone to debate and it will be impossible to make everybody happy.
I think we have got most of the instincts covered in society, but now what is left is the cultural differences (even within one society) and this is a wild bunch of ideas that will never get settled.