Hmm, I guess we do it differently then. I am not saying I didn't also experience of what you describe, poverty is literally inescapable in India unless you bury yourself in some 5-star hotel. And Nepal is still one of the poorest countries of the world.
But these things were never core of the experience. Frankly, quite opposite. Generousness of the poor is not something to shy away from, I am happy to be helped, share a dinner with them, listen to their life stories, and help them out if I can.
I don't feel any ancestor's guilt like folks from some parts western Europe could, I come from country which never enslaved another one. Maybe its just about optics on same things - my beer is definitely half full when travelling. My budget spent in the poor remote area will trickle a bit into local economy.
Maybe its a bit about expectations - I don't travel to have it easy or only positive. Intensity is what matters more.