I think that what helped me deal with this, was that I already knew how rewarding it can be to help someone have a longer/better life.

Yet, this has its limits, and when you constantly need the help of others, you do have times when you feel horrible about it.

It's normal to want to be independent, and be able to do what and when you want on your own, without requiring constant assistance from others.

What I have learned is that there are numerous tools and aids you can use to help you achieve that, even with fairly significant limitations.

I had an excellent Occupational Therapist, that came to my house and renovated it in such a way that it became much more "user friendly" for me.
I didn't even realize before how many things in my house, did not fit my functional level at all, and how relatively easy it is to fix this, giving me a completely different quality of life.