I am a grad and I have in fact worked my whole adult life (so far). I started working around school at 13 (had two paper rounds), started in shops at 15, worked 16 hours til I was in uni and then did 30 alongside my degree (in science, so 15 hours in lectures and 15 hours in labs). I never stopped.
I had a very strong work ethic instilled in me from my parents. My dad worked and saved hard and was able to retire even earlier than the DH in the OP (and no, not civil service/teacher/police etc, very manual job). My mum worked a bit longer to be able to facilitate this but is now part time in what OP would describe as a cushy low stress job.
They were still able to gift us small deposits towards our homes. But they did so on the premise that we saved our own contribution too (which I and my sibling did in different ways).
However, given how hard I've seen them both work to ensure that we were never without anything and to get themselves to this position, I would never have felt "entitled" to a deposit from them. They are my support in so many ways, but financially I am independent and will only take from them if they insist they want to give it.
That's how OP and her DH should be raising their DD. Not to expect handouts, but to appreciate the other support her parents have given her. If she does, she'll reciprocate in the two way street you've described. Family support does not equal financial.