Or is the point of the Parable that the Samaritan- a no good, shiftless, lazy, dirty, ignorant, terror-prone, (fill in with what ever ethnic/religious/racial stereotype you deem appropriate)...
Yes, that would be Jesus, who became all of that and more, for us.
From notes in
The Lutheran Study Bible: Concordia Publishing House (2009-10-31):
"10:28
do this, and you will live. Jesus affirms that if a person perfectly fulfills the Law of God, that individual will receive eternal life on Judgment Day. However, this is impossible for sinners...
10:25–37 Jesus tells the famous parable of the Good Samaritan to clarify that He expects His followers to do good to all people. However, His concluding exhortation, “Go, and do likewise,” reminds us just how far we are from the loving, self-sacrificing behaviors the Lord expects. So it was that Jesus became the Good Samaritan for us. He laid down His life, befriended us while we were yet His enemies. He promises us full restoration and life everlasting."
Similarly, Matt. 5:48, "You therefore must be perfect, as your heavenly Father is perfect."