Whole grain bread or infant formula can be “highly processed” despite very healthy.
In the end someone else cooks for you and packages it. They can cook healthy or not or in between, add a lot of salt or little, .. as always it’s more complex.
1: https://www.nature.com/articles/s41430-022-01099-1
2 https://www.cambridge.org/core/journals/nutrition-research-r...
In general, the more processing steps involved, the more things companies can do to make the food more delicious, cheaper to produce, etc., at the expense of customers' health. There is also a significant correlation between "highly processed food" and "contains way too much refined grains and oil".
However, it's absolutely possible to process the food heavily and add lots of ingredients and still maintain a healthy food if you actually care about the customer's wellbeing. It would just result in a product that is less competitive in the short term, so companies have little to no incentive to do it.