I didn't start contributing to 401k, equity accounts, and such until now (my mid 30s). I'm not in a crisis, my life isn't terrible, and its definitely still fix

I didn't start contributing to 401k, equity accounts, and such until now (my mid 30s). I'm not in a crisis, my life isn't terrible, and its definitely still fixable with minor changes. But the feeling of falling behind peers savings/housing wise is definitely palpable. You're making a very safe and reasonable choice. You can always start a business or take more financial risk down the line too if you want, and you'll have the benefit of savings as a cushion.