I think not, if we can get everything we need, of course we are not poor, poor people are people who cannot buy the things they need, the necessities in question are basic needs such as food, electricity, and so on, when I can't buy a new car , apartments, expensive clothes, and so on then I'm not poor because those things are not needed.
And you also will not be considered rich by other people if you can only meet the basic needs to live life, because other people will consider you rich when you are able to get a new car, apartment, expensive clothes, and so on which indeed can also enter into basic needs for some people. For example, like the vehicle and residence that you mentioned, everyone definitely needs a vehicle even though it's not a new one and also a place to live like an apartment even though some people are just more comfortable with owning a house.
This means that vehicles and housing have also become the main things for everyone to live more comfortably, even if you don't consider these two things as the main things because maybe you don't need them now. But someday, you will definitely need your own place to live and your own vehicle when you want to live a better life.