It’s horrible and I want so badly to open the shells and give them CPR or help them but I know that won’t work. I feel helpless to watch them.
You might want to read the article about assisted hatching:
https://www.backyardchickens.com/articles/guide-to-assisted-hatching-for-all-poultry.72886/
It can help you recognize what stages the chicks are going through (like absorbing the yolk or pipping the shell).
You are right that in general leaving them alone is better, but if they do need assistance, the article can help you recognize when and how much to help.