Overhaul Life

It seems, humankind was not endowed with the ideal mental faculties for understanding the world. Or, the mankind have decided not to use their faculties appropriately, to that end. Else, since mankind was in existence for millions of years, they would have been appreciating things uniquely, and cultivating an ideal life for itself. But, we pressed on, regardless.
So, now there is a wide gap between the actual reality, and our perception of it. Consequently, what we actually experience, do not tally with both. We have many answers from many, which are always abstract. This way, we manage to keep those gaps filled without the need of anything real and substantive. But, it fails often, and there is always a need, both for aping other forms of life, and reviewing constantly, things without life.
Perhaps there is a possibility of rewriting our fundamental notions, say, of matter, space, and all? Aren't these notions that are of geocentric universe vintage, overdue for a re-examination?
In short, shouldn't we overhaul our life?