Hey now, just because somebody isn't in the paid workforce DOES NOT mean they are a failure as a person! Success is measured in many ways and a person who isn't working but who is good company to their parents and helps them is a success in my opinion.
It doesn't matter where the money comes from. It could be a trust fund. It is a moral shame if the money was illegally acquired of course.
But rest assured without money, and in loco parentis, in the place of the parents (maybe when the parents are dead), the offspring will have a major problem. Money does not grow on trees. and any evaluation of being a so-called failure as a person is irrelevant as an economic consideration.
Yes, if the parents are alive, and have money, and are too elderly to physically handle shopping, laundry, trash, and the young can but have no money, you can have a symbiotic relationship. I know, I tried it.
The only complication is when the other parent is trying to get the kid out the door because he (dad in my case) sees the kid as a liability not as a symbiotic partner Dad was so effective in this regard that my brother would not even consider the possibility of helping Mom at all, and in the end game, last 90 days of Mom's life, I did not want to take a leave of absence either.
Being female you may also be considerably more conducive to the care of an elder or incapacitated parent. A co-worker from Egypt said they had no nursing homes.... but I think he meant the daughters in law ended up caring for them. I think if Mom had had a daughter she could have "volunteered" to help, but absent the daughter, and given my brother worked first, I was it. Women are usually encouraged to "help", men usually get no such encouragement. I know the encouragement I got was to help by leaving.