I never liked the formulation that utopia is not worth it because people lack the creativity to imagine what could be done for fun in it. It's like we've never tried but hey here's an explanation as to why you shouldn't want it! It should really not be a surprise that imagination is lacking here because for a lot of people, happiness is just defined as having things other people don't have, because that's simply how…
One of the lessons I learnt from Huxley's Brave New World is that this phrasing is very ambiguous and the meaning of utopia is more complicated, if the word is indeed meaningful. The people in BNW live in the manner that they desire, but not many would call it a utopia. Sure, those desires themselves are the result of genetic and environmental conditioning, but so are ours!
It seems to me that Huxley is saying that some element of struggle and overcoming of adversity is necessary for human flourishing.