Because our legal system is so intertwined with the EU, on our departure nothing will immediately change. If, however there are changes that we as a country wish to make, we'll be able to do so without requiring permission from the EU. For me, that is how it should be and is a tangible benefit.
Despite the issues being faced by our NHS and welfare state, it is still considered by some to be the envy of the world. It was established long before we joined the Common Market which then evolved into the EU so, EU membership has not given us access to healthcare; we already had it.
Likewise access to education in the UK, pension rights and human rights are not because of our membership of the EU. Being in existence prior to our membership there's no reason to assume why any of the aforementioned should suffer once we leave. We were able to establish these without EU membership so will be able to maintain them without the EU's 'support'.
In fact leaving the EU will not affect our rights under the ECHR (European Convention of Human Rights) as this comes from the council of Europe and not the EU.
We should not IMO forget that these institutions, even if they've been improved due to our membership of the EU, are not in existence because of it.
The EU is becoming more and more federalised leaving us with at best less sovereignty and autonomy, at worse none of either as the EU becomes increasingly autocratic.
I accept that there are some problems to solve with regard to the movement between countries which will probably require visas but these are not as onerous as some would have us believe. We spent 10 years frequently travelling to the USA which required an ESTA and visiting our DS in Australia requires a visa.
Finally, there are concerns of massive corruption in the EU believed by some to be illustrated by the fact that the EU's accounts have not been approved for the last 20 years by the EU's chief auditor, in respect of around 100 billion of expenditures (Prof. David Blake 26.10.2018 'Briefings for Brexit').
If there is any substance to these concerns, then no longer being a member of a corrupt organisation is definitely a tangible benefit.
I don't know when the brighter future will happen, it will take time but I see that brighter future beginning when we leave.