The world changes, because of people not always subscribing to the status quo. It changes, because people decide to change it. I wouldn’t want to go back to the Dark Ages. Nor would I want to go back to the days of the Roman Empire or any other period in history.
Over the long-run, the world changes for the better. The laws of nature remain the same and human nature remains basically the same, but ideas change. Ideas change culture and standards of living. We have not exhausted all the ideas. If your beliefs aren’t changing, you’re not growing.