I think as a generalisation that if people got over the first 5 years of life when they were suseptible to many childhood diseases we've eradicated - measles, whooping cough, diphtheria, TB, scarlet fever, smallpox etc etc etc they had every chance of reaching their 70s, 80s, or 90s.
In my family research I've found that the more rural and isolated people were, the healthier they appeared to be. Partly fresh air, home-grown food but also because they weren't around other people and their germs! In my lot, marshland Norfolk seems to be the best place to live!
In London both my and ex's families were a lot less healthy. Overcrowding, sharing sanitation with many other families helped disease to spread. It's also striking that many deaths involved respiratory illnesses, including TB, asthma, pneumonia etc, showing how polluted the air was.
As for whether people were better off or not, health is of course one indicator. Our ancestors didn't know about labour-saving devices and were used to making do. They were probably no happier than we were - except that now we have leisure and opportunity to dwell on whether or not we're happy. I doubt if in their busy lives they did much reflection, but probably sank into deep sleep every night from exhaustion!