We were pretty poor until I was 6 (my dad was in school and when he graduated things got much better). We got "government cheese" when we went to WIC appointments and to the health department for immunizations. But never any other boxes as far as I know. We got health care for free because my mother befriended a pediatrician's wife (she was new to town and had kids the same age) so her husband didn't charge us for medical care.
My mom said if my grandparents showed up to visit (usually with no warning and no end date!) she had to figure out how to stretch the meals, and decide what not to buy so she could afford cream for their coffee.
I am the oldest and my younger siblings don't remember as much, if any. Through middle school at least, I didn't ask for stuff because I knew we "couldn't afford it", even though we could afford it by then, and that it would upset my mother. I had one pair of pants for much of 6th grade. In reality if I had told her, she would have gotten me more pants.
All that said, we always had food and the lights were always on, and my parents were well educated and able to navigate the system, so by and large I had it extremely easy.