I was poor for some time after deciding to quit my computer science phd for a career in art. I guess I still am compared to others, but it does not feel that way any more. When I was really poor, worrying about money and how to pay the next rent was a regular source of stress for me, which took quite a lot of emotional energy.
Now I still have much lower income than people, who have regular well-paying jobs, but I do not feel poor. I have no savings and there are some things, which feel totally out of reach like owning a car or house, but I do not have to worry about money and I can afford a lot of luxuries like visiting theatres very often and eating out.
Regarding housing: I remember living in a tiny room in a shared flat in the worst part of town, above a brothel, a shady car dealer and a Hookah lounge (which was often very loud, very late into the night). Sometimes I had problems paying rent, but there just was no cheaper less-quality alternative.
Regarding transportation: I am so glad, that I live in a place, where you can live very comfortably without a car.
Similarly with health care. I think the US is just an especially bad place to be poor in compared to Europe.
Financially switching from computer science to art has been a very bad decision, but overall it was the best decision in my life. It really helped me deal with my tendencies for depressions, because it allows me to feel more meaning in my life and suits me better. I do not think that I would have dared this switch in the US. I don’t know what would have happened if I had lived in the states, if I would have found other ways to cope with depression or if I would have slipped into deeper and deeper depressive episodes without a way out, but I am glad that I did not have to find out.