A beardie won't know their parents as the eggs are left in the sand to develop and hatch on their own.
With the beardies we talk here about (captive-bred), almost for sure our beardies hatched in a breeding machine.
Also, yes, beardies eat young beardies including their own babies.
Learning to trust a human thus is likely much harder.
If you get a kitten, a puppy (here I mean really young dog, not when you call your grown dog a puppy out of affection

), or raise a young bird, you're replacing the role of their parents/ mother. Works well for many animals to make them trust you: who feeds and cares is good.
I had, years before I got Taco, a cockatiel named Lori. I got Lori with only "pin feathers", sitting hunched down. He trusted me very early - just as I had to get into the role of a parent, fed him, preened him. Food from my hand? For sure he took it.
Looking at my Taco: When I got him, it took him months to take food from my hand. The way of "tame an animal with food" didn't work. He rather had to become somewhat tame first to take the insects. Why? I suspect he first had to trust me enough to know he is allowed to take away from me what might be my food. In nature, nobody shares with a bearded dragon - him daring to take the worm from a bigger lizard or any other animal would quite sure make a prey out of him too. In nature, at least the parents, sometimes also flock mates share with a bird.
As an animal capable of learning and outfitted with curiosity, however, with patience from both the human and the dragon, they can learn that the human is harmless, and then how they can benefit from their human, and for sure show affection.
My Taco knows very well in which way he can benefit from me and my husband (we have food, we will get the lamp running once it fails, we remove the poop, we can carry him around to other places where he can see something different, and of course, there is always something to watch with "these big ones doing weird things"), and for sure finds our and especially my presence (he still has some preference for me) great

And I know very well that Taco doesn't only like me for food (as some people, usually those not familiar with reptiles, often suspect*). Taco is not food motivated. He eats, of course, but when he's done he's done, he's not wolfing it down, he's not coming for food.
*Just this week, during breaks of my own event at the university (hackathon), I was talking with somebody from another institute that's running some kind of "desert awareness". So, geology and some biology, and there are also succulents, and a poster with local reptiles in a small exhibition used for school kids coming over. Saying that I have a reptile as a pet, I got asked some questions, where I clearly saw the interest and willing to learn more, paired with common misconceptions (like, whether my bearded dragon recognizes me, and whether he reacts to my presence). With this, I hope I made one person more understanding that reptiles are not "dumb machines".