That’s the sticking point. I don’t have any faith that this can or will happen. When considering all of the different parties vying for power at any given point, it seems impossible. There’s just too much self-interest from too many powerful forces involved.
There’s a non-trivial chance that we will never come together, even on a millennial time scale. It wouldn’t surprise me at all if we either drive ourselves to extinction or go out along with the inner solar system when the sun becomes a red giant without it having ever occurred.