Before revision:  Here, we undertake a model-based global integrated assessment to characterise alternative pathways towards 36 time-bound, science-driven targets by 2030, 2050, and 2100. We show that it will be unlikely to jointly achieve socioeconomic and environmental targets by 2030, even under the most optimistic pathways and the least ambitious targets. Nonetheless, humanity can still avoid destabilisation of the Earth system and increase socioeconomic prosperity post-2030 via a Green Recovery pathway. A Green Recovery by mid- and end of the century requires reducing global population by 5\% and 26\%, empowering sustainable economic development by 32\% and 52\%, increasing education availability by 10\% and 40\%, reducing the total global fossil energy production by 36\% and 80\%, reducing agricultural land area by 7\% and 10\%, and promoting healthy and sustainable lifestyles by lowering consumption of animal-based foods (i.e., meat and dairy)
After revision:  Here, we undertake a model-based global integrated assessment to characterise alternative pathways towards 36 time-bound, science-driven targets by 2030, 2050, and 2100 and to characterise the transformations needed to deliver the global Sustainable Development Goals and an increasingly ambitious 21st century sustainability agenda. Our results quantify the scale and pace of transformations required through eight key entry points: increasing education access, powering sustainable economic development by 32\% and 52\%, increasing education availability by 10\% and 40\%, reducing the total global fossil energy production by 36\% and 80\%, reducing agricultural land area by 7\% and 10\%, and promoting healthy and sustainable lifestyles by lowering consumption of animal-based foods (i.e., meat and dairy)