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.