In addition to Definition 24, I also find 23 somewhat helpful:
intr. Dicho de una parte o porción de algo que se reparte entre varios o les es común: Caber o pertenecer.
If you are playing a card game or a board game, and someone loses track and doesn't realize it's his turn, you could say:
José, te toca.
Which means, José, it's your turn, or, the turn order has gotten to you.
If you are cutting up a cherry pie into equal portions, and one child complains that he didn't get enough, you could say:
A cada quien le toca la octava parte.
Which means, everybody gets one-eighth, or, one-eighth goes to each person.
Your sentence is similar. I would think of it like this:
We lived through that.
For example, if my son is studying the Vietnam War era, I might sadly tell him, "I lived through that." Meaning, that war was my turn to live through. Whereas my mother lived through World War II.
all the conditions you have for living
, can be in an ugly house, constant conflicts, problems, etc.