Retirement is all on your expectation. And if you were dumb enough to lay seeds you couldn't afford. but living in any of the top 5 to 10 cities, it's almost impossible to be a middle class retiree. You have sell your house, and move out to the sticks, or rent in the cheapest option you have. But all that is relative to what you think retirement is. Know plenty of people who worked through their 80s until they couldn't anymore. That's what they chose.
I tell anyone that listens. Start exploring potential options outside the country. Visiting a few stable African countries, Latin American, or even Europe is sometimes cheaper than staying in the states.
I'm sure I'm going to get buried somewhere in Central America. I sure as hell am not planning to work past 65. Laid my game plan out when I turned 30 on how I'll make it happen.