You're probably describing capitalism with social welfare/safety nets. Whereas often socialism is considered to be specifically not capitalism and may not allow for the idea of working to get more resources
Fundamentally you're probably happy with capitalism in terms of economy but want further govt regulation/welfare. Which I think is probably the best system we have
Something like universal basic income along with free healthcare, education and social safety nets definitely is an attractive idea but even providing the basic needs for everyone is expensive as hell and you can't just pay for it by cutting CEO pay. Economy is such a complex system that radical changes like this are guranteed to introduce new unexpected problems. That doesn't mean that we shouldn't try and find ways to make the world a better place for everyone but I feel like so many people naively think that the solution is obvious and right there and we're just not doing it.
You could start by giving everyone a share of profits rather than pushing all the money up towards the people who have the most.
Let machines do the work so we can do what we want with our time. We're working more than people did in the past despite our technology. And the reason we have to is the alternative is starving to death in the streets.
Both of these things violate the principles of capitalism.
It's not that simple of an answer. If you want to label the past working fine as such you also have to accept and include the living standards and social-economic environment. Because our environment and world and how we live today are vastly different from back then.
How would you barter-trade production parts of a car, the building of a car, and then that car? How would you barter-trade research and technology development?
Without money, do you pay in a narrow, restrictive way like a place to live and food? Or do you pay in something that can be traded like money - where you practically replaced currency money with a different form of currency money?
If you have crafted nice spears and axes, but you have no food, that’s too bad. You’re not allowed to barter with talented hunters who can’t make spears as nice as you can. Go hunt your own food or die of starvation in this non-commerce based society.