The “utopian future” for Star Trek has always been pretty vague. They almost never showed civilian life in the Federation, so we didn’t see much of it. Mostly it served as an excuse for a bunch of people in a heavily-armed ship to travel around and preach their own superiority to the primitives they came across while adhering strictly to a military chain of command that’s held up as the highest ideal.
People wonder why there are so many fascists in the Star Trek fandom. I always thought it was pretty obvious.