There's no "we" about it. Broadly, there are people who like having social control, people who like feeling that others are under control, and people who don't like control.
It can be very hard, and it involves a consistent questioning of authority. Including the authority of ourselves, and the authority we hold over others.
We can have modern medicine, but we have to trust the people researching it. We can have modern robots, but we have to trust the people building them.
Fear is a great way to prevent people from questioning. But if we learn to question our fear itself, it can be useful to have been afraid.