Well, that depends on who you ask.
The people that lived through the Depression were very happy with FDR (well, mostly). Things like the TVA certainly helped a great many people.
That benefit, though, came at a significant cost to the American experiment.
That's the problem with monkeying around with social programs. There's unintended consequences the more people try to muck with stuff they don't really understand. For one thing, for pensions to work, there has to be a minimum growth in monies taken in to pay for it. Can't count on wage increases because that cancels out on the other end. So meaningful growth has to be in the number of working people who contribute. But now, the trend of large families has ended. People think it's immoral to have large families. So first world nations who have such social programs must count on immigration for the population growth necessary to sustain the social programs. That has a lot of long term implications.
I think UBI would tend to have a similar problem. Plus, a negative tax system would reintroduce means testing which also reintroduces the accompanying fraud, which kinda is the whole idea behind just givng people a basic living. I don't really see that as much different from the welfare state we have, and many of the societal problems that causes. Would it unintentionally (or intentionally for the conspiracy minded people) incent women to crank out babies like big macs?