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Why are all theories formulated over the past 2,000 years concerning the good life together so flawed?

Because they are based on merely plausible visions of human nature, derived from introspection.

Why had we not historically anticipated the correct representation of what a human being is? For example, in antiquity, the atom was conjectured long before it was discovered through the modern scientific method. Granted, at that same time, this theory—later proven correct—coexisted with others that were subsequently refuted, yet it did already exist.
The reason this did not occur regarding the representation of the human being is likely tied to the fact that cognitive dissonance—and more precisely, its consequence, which leads one to lie to oneself with full conscience—is counterintuitive. The philosopher Kant still believed that lying was a conscious choice.

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Refer to the question 'What is a human being?'