Very interesting video and topic. It could be argued that pre-historic "primitive communist" society was the closest to non-oppressive we've ever been, but it was a time with low technology and thus full of natural suffering rather than political suffering. And marxists argue that there will be a golden age after state communism (socialist states) has transitioned into "full communism" which is a "stateless, moneyless and classless" world but with all the technology that was invented under capitalism and state socialist states. But I also think this is a pipe-dream. And I think these marxists would even admit that there will still be laws enforced violently under such a system. So things like police and prisons and oppression would still exist then.
I believe the ideal system would be an anarcho-pacifist commonist world (by commonism I mean beyond communism where BOTH bourgeois property AND even personal property should be shared by all). It's important that this is anarchist AND pacifist, which I think are mutually exclusive (because if violence is allowed then someone will always be oppressed and someone will always be the oppressor and thus cannot be anarchist at all; anarchist militias are an oxymoron). I think such a system has all the answers...
BUT... even my above ideal system I am pessimistic about myself, because I don't think humans, the way we are now, will ever be loving enough to allow each other to live in such a peaceful non-violent cooperative world, which is why I am very sympathetic to your post and argument.