There are many myths about humans living in hunter-gatherer societies that were "utopic." I'm reading Steven Pinker's "The Blank Slate" currently and he informs that 90 percent of hunter-gatherer societies are known to engage in warfare, and 64 percent wage war atleast once every two years. (The 90% could even be an underestimate because anthropologists often cannot study a tribe long enough to measure outbreaks that occur every decade or so).[1]
It *is* true that Paleolithic humans were physically healthier than Neolithic humans, based on their larger pelvic inlet and taller stature.[2] But, I've never read evidence that Paleolithic humans lived in "orgiastic utopias" so that premise would have to be verified before Joe Rogan could move forward in his position.
Personally, I'm convinced that children thrive most when raised by non-violent, reasonable, logical parents and not a commune of several intersecting ideologies confusing their vulnerable developing brains. [1] Ember, 1978. See also Ghiglieri, 1999; Keeley, 1996; Knauft, 1987; Wrangham & Peterson, 1996 [2] http://www.beyondveg.com/nicholson-w/angel-1984/angel-1984-1a.shtml