Any society based on theft is a failure, I wouldn't even call society.
Rich in what? Most people fiat rich are indeed very lonely and poor in many things. Some very rich people life ascetic lives. Some ppoor people live hedonistic lives on credit card debt others are humbly caring for heir families and communities by working 16 hours a day.
The human experience is vast and poor does not need to mean poor, like rich does not mean rich. Some cavemen (they still exist) couldn't be more happy.
It's complicated.
What is not complicated is that theft is not a good starting point for any relationship. A relationship based on voluntary interaction bears more fruits and it invites different qualities of different people poor or rich to the same table.
What we see is theft on a grand scale and a massive defense against it. It's alla huge waste of human ingenuity and energy.