The domestication of animals from its earliest manifestation has been a mutual activity. Animals initially cooperating with man, for the benefit of both. Whether dogs scavenging around human habitation, for food, or cattle protected from predators.
What has happened is that the pendulum has swung too far. As industrialisation and technology engulfed agriculture and fewer people worked the land. the link between humans and beast has been broken and animals are either romantised and anthromorphisized, or seen as just another raw material to be exploited with out regard to the quality of their life. We need to move the balance back the other way.
Life in the wild is no bed of roses. Animals rarely live to old age as they succumb to injury, disease, starvation or predation, or a combination of these. What humans offer animals are protection from all these. Medical treatment for injury and illness, or it that is impossible, a quick death, food in times of scarcity, protection from predation, but a quick and sudden death at a time of our choosing. An apex predator, protects animals from the suffering of over population. Currently in most cases humans are the apex predator, and why not?
What we need to do is move back to is treating animals with humanity in life, giving them living conditions that meet their basic needs and breeding out overbred characteristics that can make their lives a burden, such as huge milk yields from dairy cows.
It will make meat and dairy products, more scarce and more expensive, but there is a big enough range of foodstuffs in the world for no one to die of starvation or malnutrition. Humans have succeeded because they are omnivores, who learnt to cook, and i do not think this will ever change.