What? Believe it or not, Malthus' theories were batshit insane and dead wrong. People do not and have never actually reproduced to the point where meaningful amounts of the population are starving,
First of all, the Malthusian level isn't about mass starvation. It's about the living levels falling until the growth rate does. And if you look at any pre-industrial society, you will see humans living at that level once a society is well established, as has been documented across the globe in every complex society.
China in the 1930's is perhaps the most thoroughly documented case, but China hit the Malthusian level several times previously before. Each time, agricultural innovations came along and raised the Malthusian threshold. Read about the living conditions of a Chinese peasant in the 1930s or 1850s and get back to me on that whole people not reproducing into starvation thing.
Once you've done that, maybe you'd like to look at this thing called the 'feudal system'. Notice how despite consistent agricultural improvements from it's implementation to it's abolishment, the lives of the peasants never really improved anywhere. Notice how living conditions shot up across Europe after the Black Death and fell down to the same level afterwards.
As for the Roman example, guess what, the romans lived at the Malthusian level too! They had a larger urban population, yes, but that urban population was also pretty poor and the vast majority of the empire was rural. In fact the median Roman citizen was worse off then the median European was in the first few generations after the fall.
The crux of the Malthus was wrong thing lies in the fact that right after he wrote it, the industrial revolution happened which broke the Malthusian cycle. But I dare you to point out one single society that wasn't either Malthusian or sparsely populated with a rising population.
To say that it's "batshit insane" that humans have a carrying capacity in their environment like
every other organism on the planet is quite dismissive of a very important insight.