Yes to this, but at the same time, we shouldn't need the idea of reciprocity in order to help others. Are you okay with being the kind of person who sits and does nothing while other people are suffering? Are you okay with benefitting from their suffering? Is that the kind of person you want to be? No? Then maybe you should fight for the oppressed. Use your voice and your privilege to help others.
You know, everyone says this... they all claim that their beliefs fit this model. Then they act totally antagonistic to one another. What we need to do is define what people think these empty platitudes actually mean before just tossing them around.
Ubuntu: a South African theory of 'humanity towards others', often used in a more philosophical sense as 'the belief in a universal bond of sharing that connects all humanity'. READ: https://en.wikipedia.org/wiki/Ubuntu_(philosophy)