When I visited the Soviet Union back in the 1980s, I didn't really see any overt, obvious signs of suffering or tyranny or anything that extreme. Nobody was starving, and I didn't see any mass roundups or anything like that. Sure, there was a certain degree of inconvenience and low quality goods, but no signs of famine or starvation or the kind of mass suffering that some anti-communists would have people believe.
They didn't seem to emphasize comfort and luxury as much as we do in the West. It was not what we would have called "first world" back then, but it wasn't "third world" either. They had nuclear weapons, a formidable military, and the first country capable of sending objects into space.
When I was there, most of what the people seemed to want from Westerners were pop culture items - music, clothing - anything that was considered popular in the West. They had a black market and a gray market, which were technically illegal, but no one seemed that all that worried about getting caught, since people were trading rubles for dollars right there on the street. I didn't see a strong, visible "police presence," nor did I encounter anyone who seemed terribly worried about being watched by the secret police.
The way most Westerners describe socialist or Marxist countries is analogous to how "Reefer Madness" portrayed the supposed "dangers" of marijuana. I'm not saying they were as "free" or "democratic" as some people believe the United States to be, but they weren't any kind of "evil empire" either. They have a different legal code than we do, just as many continental European nations have different codes and procedures than we have in the United States.