Yes, in very ancient times, humans, as hunters-gatherers, enjoyed more freedom, although they were more exposed to accidents, diseases, climatic and natural disasters, etc., which prevented these populations to grow too fast:
https://en.wikipedia.org/wiki/Hunter-gatherer
But their life was certainly not so idyllic, if referring to certain more recent findings:
https://en.wikipedia.org/wiki/%C3%96tzi
http://www.bbc.com/news/science-environment-40104139
https://www.psychologytoday.com/blog/busting-myths-about-human-nature/201609/the-origin-human-lethal-violence
https://en.wikipedia.org/wiki/Neolithic
https://en.wikipedia.org/wiki/Stonehenge
https://en.wikipedia.org/wiki/Menhir
https://en.wikipedia.org/wiki/Dolmen
The domestication of plants and animals involved the sedentarisation of tribes, clans and groups, the rise of civilisations, and with them, the "creation" of territorial properties and domination, hierarchies, cultures and increased performance requirements, which also involved overexploitation with the growth of the populations.
https://en.wikipedia.org/wiki/History_of_agriculture
https://en.wikipedia.org/wiki/Civilization
https://en.wikipedia.org/wiki/Prehistoric_warfare
https://en.wikipedia.org/wiki/Ancient_warfare
https://en.wikipedia.org/wiki/Chiefdom
https://en.wikipedia.org/wiki/Tribal_chief
https://en.wikipedia.org/wiki/Monarchy
Human impact on the environment:
https://en.wikipedia.org/wiki/Desertification
https://en.wikipedia.org/wiki/Deforestation_during_the_Roman_period
https://www.mnn.com/earth-matters/wilderness-resources/photos/9-ancient-man-made-environmental-catastrophes/the-impact-o
https://www.theguardian.com/environment/2013/jun/30/stephen-emmott-ten-billion
Yes, even if we have more comfort, improved tools and instruments, sophisticated technologies, knowledge and resources (which are also creating dependence), the evolution of mentalities, education and philosophies did not follow up with medical, psychological and spiritual sciences and findings, as precarity, poverty, abuse, insecurity, lacking rights and unsustainable systems, rules and requirements are still widespread and feeding crime and violence.
And some main causes of the depletion of natural resources are:
https://en.wikipedia.org/wiki/Human_overpopulation
https://en.wikipedia.org/wiki/Overconsumption
https://en.wikipedia.org/wiki/Pollution
https://en.wikipedia.org/wiki/Hazardous_waste
https://www.nature.com/news/environment-waste-production-must-peak-this-century-1.14032
https://www.theguardian.com/world/2011/dec/29/eu-environmental-resources-new-recession