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Boadicea rebelled against an established government, she did not repel an invasion. And she only did it to avenge personal injury, not to free her people. An answer to the question could come from anthropology....chimp society is quite violent (and male dominated), bonobo society is quite peaceful and female dominated. The females use copious sex to keep the males in line.
As to human society, if female dominated it might be more peaceful but the shelves would be put up wonky and the concept of logic would rapidly die out....
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