I (mid-thirties) have been diagnosed with (ADHD and) GAD, but I feel like I have no right to have anxiety. I also feel like I shouldn't feel guilty, but in order to not feel guilty, I need to find a good excuse for having anxiety. I'm hoping to get some insight from this thread.

I have been a worrier for as long as I can remember, and my anxious, distracted and hyperactive personality traits have been considered by others as funny quirks of me since at least secondary school days.

I feel like I have no right to be anxious, because

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1. I belong to a privileged class of people: I'm white cisgender male, I have no debt (but also no assets), and I have a reasonably well-paid job in a hot industry (AI / tech).
2. I grew up in a western economy, I always believed my parents were working class (although there wasn't a lot of class discussion back then), but in retrospective they were definitely middle class. We never had any money troubles, my parents inherited a house when they were just married, so no rent due.  My family has always been left-wing and not overly religious. 
3. My parents were educated (but University wasn't a thing for middle class people when they were growing up, so they didn't attend it) and were able to comfortably fund my sister's and myself through higher education: she has a M.Sc., I have a Ph.D.
4. I grew up with both my parents, who are still together. Despite quite a lot of arguing, and frequent not tolerating each other, I wouldn't call it a broken family situation.
5. I grew up with a sister who has always been an ally.
6. My parents weren't abusive in any obvious way. I don't have any memory of being beaten, or even slapped, although I have a sense that it has happened.
7. I don't recall any even that would cause me PTSD.
8. I wasn't forced to be a top student, just an above average student, and good grades were appreciated but not expected or required.
9. I wasn't forced to work, and had a (small) allowance for helping out in the house.

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But

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1. My mother has always been an anxious person, especially around money. As a kid I was often made to feel guilty if I desired the same things that some of my wealthier (or more spoiled) friends had.
2. Even if both my sister and I were "good teenagers" (no drugs, no smoking, no drinking, no partying), we were sometimes made to feel guilty in other ways (weight, tidiness) and compared with cousins / friends.
3. Given how "good" we were, I feel like sometimes my mother overreacted to small shortcomings, and would storm out of the door announcing she'd leave, just to disappear for 5 hours at a friend's house, where she complained about how difficult we were, and then reappear.
4. I was often threatened to be sent to a boarding school the (rare, I believe) times I misbehaved.
5. Since I gained independence, I have been made to feel guilty for not living near to my parents, living in a different country, not calling them enough, not speaking my native language to my kids, etc.
6. I do seem to have a strong push to please people, and people call me an overachiever when I just overachieve so I can feel that I'm at least average.

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I don't know where to look to understand where my anxiety comes from. Why do I feel the urge to please people, to the point that I will put people's opinion of me ahead of my own needs? Wisdom of the crowd, I seek for your help.