Ive known people from poor families who became wealthy and successful.
Even a poor person can retire comfortably. If they are poor they are used to living on a meager income thus they wont need much in their retirement years. Beyond social security.
The key is to save at least 10-15% of your salary for 40 years or so.
My wife’s grandmother managed to save money while living on Social Security. She would give her savings to her daughter in law to help pay for groceries.