It’s harder to describe. Who is better off is the question, basically. Any random individual in an agricultural society was probably worse off than any random individual in a hunter-gatherer society. But the hunter-gatherers’ society was less stable, had much lower populations, and more dependent on competitive warfare. During the ‘invasion’ period of the European Migration period, battles with tribes were functionally every male member of that tribe. That rough and ready healthiness came with a large dose of constant warfare.
In other words, pyramid builders.
IE, we don’t know the names of the people who built the pyramid, but we see their accomplishment. By sacrificing personal success for the success of the society, agricultural societies with larger populations were able to leverage economies of scale to do things pastoral societies could not. Much or most of the success of agricultural societies is built upon the faceless mass of toiling agriculturalists.
To be honest there are few hunter gatherer societies that were not in contact with settled agricultural societies, and much of the advancement in hunter-gatherers came from the agricultural ones. The only one i know off the top of my head are the in the Pacific Northwest, maybe the Chinook peoples? (i can’t remember the exact name of the tribe i had in mind at the moment), with so many salmon calories at hand they developed settlements and sophisticated social attributes.
It’s hard to read the Secret History of the Mongols and think that society is especially wealthy. Pasturage was jealously guarded, and many of the migrations of Turkic peoples through history were one tribe being driven out by another. Being exiled to the endless woods of Siberia was functionally a death sentence.
Ibn Khaldun’s 14th Century, Muqaddimah, which was written during the time of Tamerlane and the decline of Andalusia, seemed to come to the conclusion that there was a regular, rhythmic pattern of invasion from hunter-gatherers into the settled agricultural worlds, wherein after a few generations they’d become “soft” and another, rapacious tribe would move in. That certainly seems to match at least the pre-Classical Middle East (even though he never mentioned it, nor probably knew about it), as the Chaldeans, the Kassites, the Hittites, the Arameans, the Medeans, Akkadians, and even the precursors of the Jewish people, all seemed to be invasions of tribal people into the agricultural areas.
Anyway the point is it’s probably hard to suss out the Old World’s hunter gatherer / pastoralists vs the agricultural communities as discrete, self contained developments rather than a loosely connected system affecting and being affected by each other after a certain point. However a modern take on why Arabian tribes were able to overwhelm the Middle East at the advent of Islam - Semitic tribes had been invading settled areas for thousands of years at that point - were, among many reasons, their relative security from plague which ravaged the area around the 550s AD.