Regarding quality of our ancestors: Yes, but there are downsides too. We probably have longer periods of lower quality of life. We improved both quality and length. But we improved length more.
People are and always will be free to die whenever they want. If you live a longer youth and then face a longer low quality life, either you want that longer low quality life more than you let on, or you cut it short.
I hope for more youth, not just more life.