You make a very good point! Yet the metrics you measure also matter. For example, it's fair to say that in terms of "free time" or "environmental pollution" things have absolutely gotten worse over the past centuries.
I definitely think it's possible that some communities/States collapsed in the past due to local climatic changes or environmental pollution (for example desertification due to over-exploitation of wood, or water pollution due to rejects from metal workshops falling into the single available source).
But in the past this was the exception not the norm. A few weeks back on HN frontpage there was a survey of hundreds of water sources worldwide, only two of which were unpolluted by medicine (the study did not consider other forms of pollution), and some time later was a study about 1/3 of the world population drinking lead-polluted water.
In that sense, everything is fucked up because even if your local community respects the environment, you can be sure there's a damn industry upstream polluting everything, or a neighboring chemical agriculture field killing the insects that keep your own food sources available, polluting the water sources...
I don't think the "are we faring better?" question can be answered in binary terms, but i think the "negative" side of things is shocking enough that it requires no less than an actual revolution to fix: as long as the people fucking things up for everyone else will profit from it, nothing good can come out of the system.