Honestly no. I don't have the worst life by any means but, I don't think there should be an obligation to love and be grateful for our lives. If we do, or can then- great. We're likely to have a better time of it but, it simply doesn't feel like that for everyone. Why should we be forced to feel something we genuinely don't? Unless of course, you are able to guilt trip yourself into feeling happy.
Where I do relate is the guilt you feel- about not doing enough. Not being helpful enough and, not being able to relax either. I definitely experience those things. For me- I think it's mostly down to the strong work ethics that were instilled in me. Over everything. You work, you support yourself, you take a pride in your appearance and living environment, you do things for others, you are there for your family.
Some of those things, I was able to let go of- without feeling too much guilt. I'm alone enough for my neglected appearance not to offend anyone. My disgusting living environment only has me in it. Family and friends have mutually become estranged.
Work though- has remained. Seeing as I'm freelance, that can be sporadic. I generally have long periods of very intense work followed by sometimes weeks and even months of nothing. But, not only do family panic me and probably try to make me feel guilty, I do anyway. I've pretty much always felt like what I do isn't enough.
Weirdly, it's been developing ideation that has helped put more of an end to that. If I die early, I won't need a pension. I can afford to live more hand to mouth.
If your concern is not doing enough to help others though- could you maybe do voluntary work? To see if that makes a difference?
Be warned, it may not though. I've done all sorts. Worked full time in retail, done Head of Department roles, worked nights. Partly as some kind of proof I was a hard working, responsible adult but, none of it really worked. There was always something I wasn't doing. When I did non creative careers, I was wasting my education. When I was doing arty careers, I was failing financially. Or, working sporadically. I don't think we can always live up to the expectations instilled in us.
I wouldn't even say my upbringing was overly pushy or strict but those principles were and still are- there. An obvious hatred for people who don't pull their weight. So, I constantly feel the pressure not to become one.
But, without developing a hatred for your parents, maybe it's worth considering the expectations even subtly impressed upon you. I don't think we feel guilt out of nowhere.