I like your way of thinking and agree with most of your suppositions--except for this hidden one: we are ONLY infantile.
There are plenty of movements toward growth and heroic sacrifice. Those many voices have saved me from the pit of infantilism, personally. It was not forced on me--like you say it must be. I chose it willingly. That's the whole idea of the mythic hero.
For as long as there has been consciousness, there has been a massive pull toward unconsciousness. Choosing consciousness isn't easy, and I would rather celebrate the many examples of people doing that rather than bemoan the always-present examples of womb-returning behavior.
Anyway, thanks for sharing your clear voice and shedding a lot of light on the problem as it manifests in 2020.
Hopefully you're not losing hope. That's just another form of infantilism, no?