The Greek, Norse, Egyptian, and other mythological civilizations may possibly be Type 3 civilizations that exist on different dimensional planes. Their advanced technology would be magical to us walking apes.

They could possess the scientific means through technology to convert energy into matter. Unlimited resources would be able to build a perfect society.
Olympus, Atlantis, the Underworld, Asgard, AAru, Avalon, Aztlan, Shangri-La, and others like them have one thing in common. They all have regular citizens inhabiting them. Some could be human and others could be non-human.
Hypothetically, they could be considered utopias. We can only theorize through academia and walking ape logic. If they did exist, then they would be good examples to learn from. Possibly. Skeptic in me always border on wait and see approach. Over time, they could be not good for us.
Rocco mentioned the United Federation of Planets (UFP). That's a good reference due to fictionalized warp drive and matter/food replicators. The replicators are theoretically existing matter being rearranged into new constructs. That technology creates the possibility of the beginnings of a utopian life.
The UFP still uses currency along with the other spacefaring species except for the Borg and he Q Continuum. The UFP still has social, educational, religious, governmental, and military issues. This is the drama created by writers for episodic television to hook viewers.
There is many YouTube content on Star Trek.
The closest form of Utopia that existed. It was with early man during the hunter/gatherer days. No paychecks, no rent/mortgage, no insurance, no utility bills, no grocery bills, and no taxes. They were masters of their destiny.
This walking ape is very jealous.