Sure. The world would be more biodiverse, have less CO2 in the atmosphere, be less "touched" in general if you or I moved into a mud hut, or furthermore pulled out the old KMS card.

Realistically it doesn't matter what we do - we can't make the world "more untouched" than it would be if we didn't exist.

People have differing opinions on the level of modification that's reasonable to support their own life, their goals, their happiness etc.