I grew up poor in the 90s and had my own computer around ~10yrs old. It was DOS but I still learned a lot. Eventually my brother and I saved up from working at a diner washing dishes and we built our own Windows PC.
I didn't go to college but I taught myself programming during a summer after high school and found a job within a year (I already knew HTML/CSS from high school).
There's always ways. But I do agree partially, YC/VCs do have a bias towards kids from high end schools and connected families.