My parents are doing just fine.
The only debt they have is their house and that will be paid off before they retire. They have enough money in savings to write out checks for a $40,000 camper, $16,000 new Ford Range, and a $30,000 Ford F250 all within a 7 year time frame.
The only thing going against them is that they didn't start saving for retirement until their 30s so, depending on the stock market, they are trying to retire by age 64 (Dad) and 62 (Mom). They're 54 and 51 right now.