To the OP, you didn't have it so bad. You had parents who loved you, did their best for you and had time for you. There are many, many kids out there whose lives were much worse than yours. Don't dwell on what you didn't have, or what you thought you could have had. Let it go. I don't think you are intentionally ungrateful, though many kids do compare their lives to other kids' lives, and that's normal. When you have your own children, you may do things differently, but differently doesn't always mean better.
I was brought up in care in the 50's and 60's and I would have sold my soul to have parents who gave me a life such as yours.
Remember in your busy life to thank your parents for all they have been to you, because there may come a day when that won't be possible.