I agree with that. However, I also think that the most common experience of human beings over time is "subservience, enforced by physical or mental threats." To conclude from this that humans are "born free" in any sense is far from obvious.
A society pervaded by this "filiality" would be just and good, but it is a justice never perfectly expressed on this earth. We live with, at best, some approximation of this justice. We enact, at best, some approximation of it. We desire it.
Hungering and thirsting for justice is as good as it gets in this life. Those who hunger and thirst are called "blessed."