Certainly, they had a lesser incidence of many chronic and lethal diseases associated with old age, since they generally died decades before most humans develop them. The reason cancer is so prevalent now is that we have eliminated or limited deaths from so many other causes that occur at younger ages that a disease so strongly associated with age is now such a prominent cause of death.
At the same time, modern society enables us access to a far greater variety of food than they would ever have had access to. We also have far more stability in our access to food in industrialized societies.
Less than 2/3 of children make it to the age of 15 in untouched hunter-gatherer societies. You are quite wrong that humans in general were better off. We have never been this well off, and things keep improving every year.
If you don't take risks from the actual hunting and gathering itself into consideration, perhaps. That would be a rather strange thing to do however. The healthiest living person would be a person genetically less likely to suffer from various diseases who lives a healthy lifestyle with plenty of exercise in a modern society. Better still if it's in a place with relatively clean air.
Is it really a question worth asking when the answer is this obvious?