I suppose the answer to that lies in what people define as their "quality of life".
As you stated on the one hand medicine (especially antibiotics) keeps us going longer. The ancients had a pretty high infant mortality rate. But those who survived could count on adequate food (usually), clean drinking water and air, and a group of people who would help one defend themselves if the occasion arose. You didnt' need money or credit or insurance. You shared all you had and they shared with you, in some tribes.
Conversely, if you were severely injured, too old to contribute, or deformed at birth you were left to die in some tribes. Granted they had some medicinal herbs but there are just a number of conditions where herbs are useless. Evolution, both physical and societal, has left us pretty much indefensible in survival situations.
The world is overpopulated, polluted, not much more safe than it was at the time of the tribes. It's not a good idea to idealize the past in favor of the present, but I'd still like to have a time machine so I could go back.