I think this true, but there are other nuances in today's society:
1 -- Before the SS/Medicare era, "retirement" tended to be the point at which the person was no longer physically or mentally to produce, or to "add value" with their abilities. And in the most cases, that was either the day dropped dead (if sudden) or within a couple of years (if not sudden). There may be a few situations (incapacitating injury, dementia, et cetera) where caring for a non-working family member was a long-term thing, but not to the extent of providing for the long, healthy retirements of today.
2 -- Before the SS/Medicare era, caring for the incapacitated, the disabled and the elderly were almost entirely provided by family (and sometimes by charity). The expectation today is that government does more. Thus there was a shift of responsibility to the overwhelmingly willing to the often unwilling.
3 -- The current situation is exacerbated by demographics that makes "paygo" a "birth lottery" system where the deal you get (good or bad) is largely dependent on when you were born.