We rent our starter home out because we want to eventually move back in when we retire. We keep the rent affordable and fix anything that breaks. Only rent increases that happen are due to HOA and property tax increases.
I'm sure others will disagree but I'm fine with this, especially since it sounds like you're being fair, not greedy, and have a reasonable exit strategy.
You aren't hoarding wealth, buying up all the starter homes, making them into unsightly mcmanasions, and then putting them up for rent like a bunch of houses in my neighborhood. Like 7 houses on my block are owned by 2 people.