Most of the industrialized world can be said to have done that.
Western Europe, Japan, probably Canada too. It is easy* and requires only low levels of corruption, good law and order, combined with mostly free markets. Wealth in terms of natural resources is NOT a requirement, Switzerland is resource wise very poor. (Unless you count scenic views of the Alps as a resource.)
*When I say easy, I mean possible and requires only changes in human behavior - so super hard in fact.
Also: the help of a larger, richer friend overseas who is much less concerned with equality.
Also there's very little military projection from the Scandinavian countries for example.
And I am not sure how the overseas friend helps? If you look at median (not average) GDP per capita, the US is actually less wealthy than many European countries. Plus, in terms of trade with Europe, the US is as much a competitor and exporter as it is an importer.
So I'd say Western European or Scandinavian style prosperity is definitely possible without UK style ex-colonialism, or US style inequality and military projectionism.
Honestly, it seems so hard to imagine a 20th Century without US influence that it may not even be worth the effort.
And yet that has not crippled the European economies when it comes to trade with the US. European cars are more gasoline efficient, and Europeans live closer together (although this may largely also be due to historic reason long predating the automobile).
And I think the fear that oil might be radically more expensive for everyone, unless someone ensures it keeps flowing, is unfounded. If oil is valuable - people will look to sell it.
Didn't certain groups in Iraq partly fund themselves by exporting oil in pickup trucks? That's what I mean. Even if an oil exporting area turns to complete and utter chaos, strong men will arise and they will look to get rich by selling oil. And how long could the oil exporting states maintain their quality of life without massive oil exports?
I think you'd have to actively fight to prevent oil from trading rather than the other way around.
But it is also true that Europe might look radically different if the US had not pushed for democracy in the west.
That's what's really so depressing about the US and the rest of the world slowly sliding towards more and more authoritarianism. Who will be guiding beacon of freedom in the coming centuries? Switzerland is not big enough to strong arm anyone into being more democratic.
But yeah - I agree. Authoritarianism is definitely not the way to a prosperous world.
Consider the "curse of oil." Abundant natural resources may make uplifting the wider society difficult. Compare the Middle East with Japan.
Define poverty.
If you define it as having much less money than everyone else around you then it's impossible to ever get rid of it. Someone will always have less money. Someone will always have fewer skill and have the poorer jobs.
However, if you define poverty as not having the basics, then we are well on the way to getting rid of it already.
Another few doublings of our energy usage should do it. (Energy usage = resources available, which means everyone has those resources.)
"Have you ever stood and stared at it? Marveled at its beauty, its genius? Billions of people just living out their lives, oblivious. Did you know that the first Matrix was designed to be a perfect human world where none suffered, where everyone would be happy? It was a disaster. No one would accept the program, entire crops were lost. Some believed that we lacked the programming language to describe your perfect world, but I believe that as a species human beings define their reality through misery and suffering."