I'd kind of like to see money go away. I suspect human technology and civilization might be past the point where it's useful. Granted, the transition from a money to a non-money system might be turbulent given that we're so used to the work-->money-->buy stuff model, but there's no fundamamental need for that system to exist.
Like others have pointed out, while profit can provide incentive for progress, it can also provide incentive to prevent it.
Capitalism is fine, but we might be ready as a species to outgrow it. All that really needs to happen is for survival essentials to become so trivial to acquire, that nobody "needs" to work.
Many systems that consume a great deal of time and energy to maintain could be made irrelevant simply by doing things differently. We could eliminate a massive number of accountants by simplifying the tax code. We could eliminate a massive number of postal positions by transitioning to electronic payment. Centralized water purification and distribution would be irrelevant if our society simply used water condensors. Yes, condensors would still need to be manufactured and distributed, but that distribution could more easily take the form of individuals buying/acquiring them and transporting them themselves. Individuals will obviously be sufficiently motivated to go to the store and buy and take home a condensor and install a septic tank, whereas maintaining underground pipes and purification centers over countless tens of thousands of square miles of city is much more difficult to maintain, and requires a dedicated workforce for the task. Electrical production and distribution could similarly be made obsolete if we simply did things differently. Maybe solar and wind electrical generation technology needs to get a little better before that's practical, but it's not that far away. Roads could be made obsolete by personal air transport. Again, maybe we're not quite there yet, but I don't think we're far away.
But how politically attractive does that sound? People apparently want jobs and are trying to create them. Eliminating jobs is unpopular, and a gradual transition from the job model to the no-job model might tend to be...as I said, turbulent. There's a vast portion of useless work being done, but who wants to be the first one to have their industry made obsolete in a system that hasn't completely made the transition to money not being necessary?
Consequently we're in a situation where capitalism is providing incentive to inhibit rather than encourage progress.
3d printing has potential to provide an alternate route. Once the technology gets better...once you can go into your backyard and dump weeds and dirt into a nano-disassembler to provide base components to manufacture food, clothes etc. at the press of a button...at that point, the entire system pretty much instantly collapses.