Almost everyone has asked "are you okay?" and answered it the same way: "yes." The speaker points out how hollow that little exchange usually is. We ask out of habit, and we reply out of habit, and neither side expects a real answer. The line "nobody really wants the answer" suggests that people ask to be polite, not because they're ready to hear something hard.
The speaker doesn't sound angry about this so much as tired and a little sad. "We" includes the speaker, so there's no finger-pointing, just a quiet admission that everyone is part of the pretence. The short, broken lines, with "wants" sitting alone on its own line, make the poem feel hesitant, like someone choosing their words carefully.
The ending is gentle and hopeful. "Hopefully one day / we'll tell the truth" doesn't promise change, but it leaves the door open. The mood is quiet, honest, and a little lonely, with a small wish for real connection.