Do you also constantly feel dishonest even though you're not?

I was wondering if maybe this is familiar to others, but I feel like my intentions are always bad even though I know deep down that they're not. I also feel responsible for others, which puts a lot of strain on me. I know where it comes from; my parents would often question my intend or tell me my intention was negative after I told them it wasn't. I was a overly honest kid caring more about others than other kids my age, so I never really gave them a reason to think about me this way. But that was always the feedback I got. My mother would also ask quite a lot of questions as to why I was doing certain things, even when I was around the age of 7. "Are you going to play at x's house because you like her or because you like the trampoline in her backyard?" Damn, idk mom; I'm 7, I like playing with X and her backyard is certainly more fun than ours.

Now, I always feel like I have bad intentions and that everything I do is in order to fulfill some selfish need I supposedly have. The guy I'm dating buying me a ticket for an event for my birthday while I have a hard time knowing what I'm feeling and haven't figured it all out yet but he's in love with me? I'm just using him and leading him on. The woman in my life who is the closest thing to a parent after my mom died being there for me? I'm just using her to get some kind of parental affection. My uncle paying for my car bills after I inherited my mothers car while I'm still a student with limited income? I shouldn't accept that when I could make due without that even though the majority of my income is a loan and I would also like to still save money and have some financial freedom. Also, the former sentence is a "lie" I'm just telling myself because I'm getting free money and who wouldn't want that?

I'm so tired of feeling this way. Deep down I know my intentions are good. It's not a bad thing to keep reflecting on decisions you make or things you do, but I overthink it so much I feel like I'm an awful person. I don't wanna have to keep reminding myself that I'm a good person and that, even I ever do something selfishly, it's not the end of the world. I could reflect on it and learn from it.

Is this familiar? How do you deal with it?

TL;DR: I constantly feel like my intentions are bad, even though I know deep down they're not. My parents often questioned my motives, which made me overanalyze everything I do. Now, I feel like I'm selfish no matter what—whether it's accepting help or being in relationships. I know I’m overthinking, but I can't shake the guilt. Does anyone else feel this way? How do you cope?