There are plenty of people in your situation (I'm also one of them), but the fact is that (unless you're at the very top of the pyramid) nearly everyone (including people like us) is a bit worse off than they would have been at a comparable stage in life 30 - 60 years ago.

I had to work hard and make sacrifices to make it, however with my qualifications my parents (and even moreso my grandparents) generation would have just walked into secure, high-paying jobs with real prospects of advancement. Instead I've got to constantly be switching jobs and looking out for myself in order to not fall behind. I know the rules of the game, so I do what I have to do.

Now just imagine people who 50 years ago would have been 'making it with sacrifices and hard work', since (virtually) everyone is now a bit worse off, their situation has shifted to 'underwater despite sacrifices and hard work'.

TLDR: The average millennial is poorer than past generations and it's harder to make it than before. This doesn't mean that there aren't large amount of individual millennials (like us) who DO make it, although even for this group (unless they are at the top of the pyramid) it's harder than before.