From his most recent, and last, book it appears that RAW believed in a reasonable probability of some sort of afterlife. However, I assume that on some sort of level he must have been pissed off / disappointed that technology failed to advance in the way that he expected in Cosmic Trigger vol. 1 in 1977, meaning that he wasn't able to take advantage of Tim Leary's trinity of Space Migration, Intelligence Increase and Life Extension (SMI^2LE).
I cannot help wondering if that will be the fate of those of us who still hold out some sort of hope of significant life extension / the singularity / whatever.
Funnily enough, pmcray and I were discussing people seeming to believe in the afterlife this lunchtime, as captured in the name of Damien Hurst's famous shark in formaldehyde art-work 'The Impossibility of Death in the Mind of the Living'.