What can we do to re-shape society for the better?

If top of the society is immoral psychopaths with power, and most of the society is composed of people with good intentions, then there is not much hope for "beta uprising" until things go way beyond point of recovery, because powerful psychopaths will not let their power get taken away.

Not sure if this is just evolutionary biology, but this cycle of psychopaths at the top has been going on since when, at least ancient Egypt. And in all these thousands of years, the system that enables this cycle got way more reinforced than it got dismantled.

So is it maybe better idea to put benevolent people's energy towards designing and preparing a new societal system that will have built-in mechanisms for preventing corruption and malevolence? "prepare" as in get ready to implement for when the current messed up system is about to grind to a halt and collapse? Well, it would be best to figure out how to go full Benevolent Theseus™ by replacing parts of currently failing system with the corruption-proof ones.

What are some resources related to this topic? Recearch on societal dynamics, designing political systems, examples of similar revolutions that already happened, etc. Post any links that you consider relevant