The Downpayment Toward Equity Act (currently still in Congress, but already budgeted for) is meant to address the generational wealth gap you described, so there is hope. It would give a $25,000 grant to first-generation first-time home buyers.
I don’t think anyone should be ashamed of getting help from parents for buying a home. As you said, it is essentially an advance on one’s inheritance. Nepotism is favoritism for something intended to be merit-based.