Cooking from scratch does not have to begin with a sack of dry beans. A tin, a frozen vegetable, or a suitable ready-made sauce can make a home-cooked meal possible on a busy evening.
Choose shortcuts that solve an actual problem. Canned lentils remove a cooking step; pre-cut vegetables reduce knife work; a familiar sauce can help you learn a new tofu texture without managing everything at once.
Read ingredients and storage instructions, and taste before adding extra salt or seasoning. Convenience products vary, so keep track of the ones you enjoy rather than assuming all versions are alike.
There is no need to apologize for a meal that uses them. The useful distinction is whether the food works for your time, budget, preferences, and dietary needs. A practical dinner can contain both something prepared by you and something prepared elsewhere.