I am scared I won’t have enough when I am 60 & also think I am living below my means!

I am 36y women earning around 400k per year including base bonus and stocks. Base around 300k. Got a house for 500k. Small 5y back. Now have15y loan for 5%. 250k mortgage. Think could I have done better? I was not sure about big house n now k see people earning less than me are getting million dollar house.
Investing wise I am not too great. Just max my 401k ( pre and post)- 72k (only have 250k in it). Started late. I didnt have much knowledge or anyone to guide me. Come from a very humble family.
200k in managed account
100 k cash for rainy day
Mortgage is like $2300 month

I get more than I spend. I don’t do much things for myself.
Send some money for my parents . They don’t ask I just do.
Can any one advice me here what to do and how am I doing? Lookin to retire at 60

Any advice on how should I move ahead? Please be nice as I am genuinely asking. I am not a very good financial person.