Ah! Marketing Speak. "Self help" is a (colloquial) slur, yet we can differentiate. One non self help book comes to mind. "A General Theory of Love". The way "to go" is always right in front of us. Through. No issues, no deal.
Not easy! Enjoyed your piece, engagement.
As one who started on a path to self knowledge with the very same books of David's you cite; "The Drama of the Gifted Child", "The Divided Self", and John Bradshaw's on "The Family", - I can say that you grossly misstate the thrust of Millers work, and only the last might be perfunctorily lumped in a "self help" genre. Bradshaw walked the walk. He's not an ego invested Deepak or Wayne Dyer who's interest is to cover every new development in psychology and contemplative practice with their own image. Years earlier than you state, before others made it cliche, Bradshaw's "inner child" and "mobile" which dynamically modeled the family - this was a work of art - served as meaningful catalysts for many willing and able to do "the work". That task for David was greater than for most, (compounded by alcoholism) but it was clear that he made a heroic effort - and an experiential understanding of his reading material would be useful to all, not just those who write about it.