How are we going to reach it?
Physically and spiritually.
It has to be both.
You can have some improvement in either world. But if you want unconditional happiness, you must have complete freedom, mental and physical. And you must be responsible to please your soul.
Nature gave us so many examples on how to cooperate with each other and prosper. God has showed us the way to eternity — cooperate, give yourself complete freedom, and give each other the freedom they deserve.