[uoaei]

The best answer we have today, IMO, in terms of ethics of freedom and agency, is "representative democracy," which may be extended to "liquid democracy" to bridge the gap between small, direct-democracy-capable organizations and large, unwieldy ones.

Unfortunately, no solution will be perfect, but that doesn't mean some aren't better than others. The problem is in essence unsolvable. Politics and civilization is an exercise in minimizing harm rather than eliminating it, maximizing utility rather than spiking it.