If by help you mean financially and aren't including help using their time/talents, then yes. I know a lot of people who would be much better off if their parents could help financially, but their parents could not afford such assistance. Assistance of time/talents is possible too, but not reported on here.
It is a spectrum that is for sure. I expect everyone has an internal barometer where financial help flips over from ordinary to extraordinary. If you give your child graduating from college a used car. Is that privileged? Even if that child has $100K in college debt? Or if you pay their air fare to come to Thanksgiving two times after they are out of college, is that privileged? How about you pay their bail to get them out of jail, is that privileged.
I disagree with the idea that any financial support means your children are privileged but do agree that there is a level of support at which they are so. In my personal definition I draw the line at things like subsidizing their rent or paying their gas or insurance bills. I would consider someone whose parents supported them to that level as living a privileged life.
But as I said, I expect that line is in different places for everyone.
