If you make 34k per year, you are in the world's elite - in the top 1% of all people.
Most people worldwide probably inherit $0-1000.
I make 34k/year, own a house, have two children, save for retirement, and live comfortably.
I will inherit probably 10k from my grampa and maybe 50k from my parents. Maybe $0 from my parents depending on what happens.
I hope to leave my kids several hundred thousand.
Legacy is a loaded term. If you mean a legacy in terms of wealth and cultural influence, then yes, you probably need a lot of money. But not necessarily. Lots of artists and writers and dreamers have left amazing legacies with no money.
If you mean a legacy of being a compassionate, loving parent, loyal friend, hard worker, and positive influence on society, then you don't need to leave any money to have a legacy.
The love of money is the root of all kinds of evil. The elitism in the US and the west in general is toxic to the earth and to humanity as a whole. Enjoy what you have, get more if you can, and live like you are free.