You are smart to be planning this now.
Twenty years ago, I was nearly broke, and retirement could be as little as 10 years away. I had a mortgage for a larger house than I needed, a car payment, a little bit of credit card debt, and about $6,000 in my 401k.
I am now 72, in great shape, travel wherever I want, and go dancing with my wife every day. I did not win the lottery.
This article explains how we did it: