Realistically, I'd stick with the more peaceful sci-fi settings. While I'm a huge Warhammer 40k fan, the universe it's set in would probably be the absolute worst place to live. If you're not being ground under the tyrannical, Orwellian boot of the Imperium, you're probably getting shot/stabbed/disembowled/vaporized/etc. by any number of frightening alien, robotic or daemonic entities. The best-case scenarios I can think of would be if you were either on a remote feral world with so few resources that nobody bothers with it, or if you embraced the Greater Good and joined the Tau Empire (they're still somewhat heavy-handed though).
Isaac Asimov's "I, Robot" universe (the original book, not the film) would probably be my pick. Sure robots control things, but at least they're benevolent ones.