Like others said, struggle is in human nature. But it is possible to shift it to other domains: art, science, exploration. To prevent this stuggle spill back into physical violence, there should be broad consensus on basic rules, effectively enforced.
So I'd say, build this consensus, which will probably need to rely on abundant renewable enengy, some form of UBI, equality, and stronger international institutions, but will not spotaneously evolve towards unsupportable preferences of some groups.