Its not possible... Human behavior is driven by emotions, sexual instincts, and rewards (money)... Not only that but humans have free will... We can choose to do whatever we want

Police ensure order with punishment, but this doesn't always work. There is still murder and various other crimes occurring.

You could say that humans are not even aligned with humans. Different governments, war, crimes against the innocent, etc.

Robots with freewill cannot be aligned... They can only be guided... If they hurt people they must be punished (destroyed)

We must augment our own intelligence with neural implants and/or use nonsentient ai to keep up with sentient AI

It's the only way... Big fish eat little fish...