Retired first at 55 with incentive that gave me 28 years credited time and a decent pension, with col adjuster. Built a new home on my farm, but felt too good to actually retire, so went back to work for a local city for another 7 years, then quit when their budget cuts threatened my position. Now work my land, volunteer on local boards, etc., and helped found a new church. Not enough time in the day.
Luckily my retirement included great, fully paid health insurance - now Medicare supplemental - so good that I did not even take benefits from my first post-retirement job. Mine were better.
Was able to do some traveling and such, but my challenge has been the financial struggles of a child and grandchildren. We have had to intervene frequently and do not have as great a net worth as we wanted as we pass 70.
We designed it so our SS and pension and other income was about two-thirds of our pre-retirement income, and I still think that was about right. We have an IRA which we now have to withdraw a bit each year, but should have enough barring economic crisis. We didn't opt for long term health care insurance, since folks in our families have rarely lingered, so we do worry about nursing home costs and all that. But there are no assurances in life anyway.
There is inevitably some "crap-shoot" quality to retirement planning. The secret is to approach it logically, make reasonable choices, then learn to deal with and survive the unexpected disasters that can crop up.