Yes, people are getting wealthier in real terms, including the poor. Especially if you quantify it the right way: absolute consumption/expenditures, not relative % from median income (relative count will always show there are poor people even if they would appear insanely "rich" to a poor person from 100 years ago or from Afghanistan).
On lived experience: my lived experience tells me the Earth is flat.
On lived experience: my lived experience tells me the Earth is flat.