I think when you’re young, and able, you should be working and contributing in some way; and at the same time setting yourself up financially for the future. That means not putting yourself into debt that’s difficult to climb out of, and living below your means. That way you’ll have the money to enjoy more free time later.
Of course there’s incredible pressure to “conform” in terms of bigger-better-faster-more, and most people get themselves into a rut that they can’t escape. I once had a CEO try encouraging me to get a big fancy new pickup truck and go into debt for it, thereby trapping me in debt and a never ending job. I quit that job like a bad habit and went into business on my own, but only because I’m retired military and have free healthcare. The system in the US is set up to trap employees in jobs they hate through employer-funded healthcare, especially if that employee or a family member has a chronic health condition. Large corporations lobby to keep that system in place because they know a certain percentage of employees would quit if healthcare wasn’t tied to employment in America. Set yourself up to avoid these traps if you can.
If you can do it while living in a van/RV, so much the better - if that’s your goal. If somebody values what you do enough to pay you, and you can comfortably live on that income, then you are contributing. Doesn’t matter if it’s flipping burgers at McDonalds or working as a scientist - it’s all contributing to the world.
Leeching off of society when you’re young and able-bodied/able-minded is a different story. Being a parasite should make you feel worthless. Same with trust-fund brats.