I've never been really poor, but similarly to you, there were periods in life when I at least earned some respect and appreciation for money. Going to the grocery store and buying the absolute minimum necessary, while picking the cheapest products.

There were two thresholds that I remember distinctly: the first one was crossing from "poor" to "ok", when I could go shop for groceries and buy most things (though still looking at the price tags, to avoid the expensive stuff). That was a big step up from buying the bare necessities.

The second threshold, "rich", was when I realized I don't have to worry about the prices in my local grocery store. I can just buy whatever I want.

In the grand scheme of things, this isn't "rich" by any means, but it is enough to provide immense comfort and ease of living. I think many people who have this comfort are unable to appreciate what they have.