I took a half-way approach to this, and now work for a small consulting firm. It's much like self-employment in that I'm still working for a variety of clients

I took a half-way approach to this, and now work for a small consulting firm. It's much like self-employment in that I'm still working for a variety of clients and only getting paid when I work, but we have business development staff that finds the clients, and a benefits plan that I buy into at cost (this was more useful before the ACA exchanges were available). The firm handles billing and negotiating rates with the client, and pockets the difference between what the clients pay and what I get paid. In the end I net pretty close to what I'd get paid working full-time for any large employer. I found this firm from the other side, we used them to locate consultants while I was working at a previous employer, but I imagine with 15 years experience you can probably find similar organizations within your existing network.