I actually agree with you that a vast majority of people are living sub-optimally in one way or another. I don't stress myself out over "most people's lives" because I have no stake in them. I do have a stake in my own life and my family's-- that's why it's to be "stressed out over."
As of right now, despite all appearances, my parents actually haven't "done good enough." Mistakenly thinking it was good enough if I was financially successful, they failed to properly socialize me. But they're on the same feel-good train as you and most of society, so they won't acknowledge it.
Who cares if they acknowledge it?
There’s no going back in time and assuming you are financially successful you’re in a very good position to learn how to socialize yourself.
Essentially everybody feels like their parents let them down in some way to some extent. Your parents could’ve socialized you properly and then you’d find some other way they let you down.
Additionally, I didn’t say that most people’s lives are suboptimal. I said that most people’s lives didn’t go according to plan. There’s a pretty significant difference.