Even if we were able to live in complete harmony with the planet and not exhaust our resources we’d undoubtedly go extinct for one reason or another. I’m not necessarily talking about resources.
But yeah, what you’ve described is how we’re existing at present anyway.
Some serious rose tinted glasses looking back on history there! At what point in time are you thinking about? For most of history I’d have had fealty to some land owner. I’d say we have more freedom and opertunity to experience the world now than before.
You can still explore the planet for yourself, just because something has been experienced by someone before you shouldn’t take too much away from your joy if experiencing it.