a basic floor to ensure no one lives in inhuman conditions

I am not an expert on political or economic theory, but I think the reason we don’t have consensus on the above is a philosophical issue. A confounding factor is that some people often confuse their greed-induced cognitive distortions as well-reasoned justification for whatever they do. But besides all that, it seems countries with market socialism are faring quite well till now, and I think are probably a good model for other economies.