I have been planning for the past 7 years. I am 62.
I consider myself PMR (Pretty Much Retired) now - I work, but not all that much and I enjoy what I do. As I'll never stop doing that unless I become physically or mentally incapable, I'll likely remain PMR for quite some time.
We have a nice life. I work hard, but I work on my terms. I choose when I work, what I work at and who I work for.