I'm sort of one of these people OP.
I work hard but I'm not ambitious. As long as I'm getting by that's it for me, no desire to amass a fortune. I like work because I like working and being busy. If I'm in a job where colleagues or bosses are making me unhappy I leave. There's always another job. I don't care what industry I work in, so long as they pay me. Commute time is time to think, read and listen to music, so I'm flexible about where I work. I don't live to work, I work to live.
I'm the same at home, plenty of chill time. Sometimes I'll watch a film or read a novel for hours, but I've always got projects on the go. At the moment I'm decluttering and redecorating the bedroom, working through a manifestation journal, doing a cross-stitch and reading my way through the Bible (all of it!). I do things in fits and starts as the mood takes me and yes, sometimes I stop to bake a cake 😁. I'm organised and prioritise self-care and healthy habits because it makes no sense not to.
I have friends nearby (I let go of the ones who weren't, no hard feelings, I just don't have time for long-distance relationships) and family who aren't nearby (keep in touch with texts and cards). I go to a hobby group weekly.
I'm not perfect and neither is my life. I have my faults and problems. How I do it is optimism. I always look for the positives in any situation and make the best of them. The negatives I'll have a moan about and let it go. Usually you can't change them anyway. I've always got plans though. No matter the situation I'll be looking to keep it good or make it better, I actively work at it. If I find myself somewhere unbearable I move on to other situations. There's always choices. Even if they're all shit, I'll actively assess them and choose the least shit option, then start making plans to improve things.
I learned a long time ago that we can't have it all and let go of frustration about being brought up with society telling us we can. Sometimes there's difficult decisions to make but I accept it and get on with it because no amount of complaining about it will make it any different.
I think it's ok to feel however and whatever. If you're sad about something you don't have, that's fine. It's important to be grateful for what you do have though, too.
I found other people is where a lot of the stress comes from. So I'm fairly solitary although I'm sociable too, it's hard to explain. I'm always up for a chat, but I don't worry what others think. If someone doesn't like me, ok 🤷, it really doesn't matter. We can avoid each other, it's a big planet. If someone has a problem, I don't let it get me down, it's their problem and their life. Some people are surrounded by non-stop dramatics, both created by themselves and others they're involved with. It doesn't mean we can't be friends, but I'm not getting involved with their issues, I'm not taking sides to appease anyone and I'm not going to listen to someone going on about it endlessly. In that scenario I'll distance myself for a bit, look to my own business and get on with improving my own life.
I think it helps that I like the earth. I like plants, animals, weather and the changing seasons. So I can find a ladybug on my windowsill and think it's cute or look out at a storm and watch the lightning alter how the world looks from one moment to the next. I appreciate the sunset and sunrise. I listen to birds tweeting. It means I can be happy with nothing and no-one. I meet some people who seem to really need other people or wealth or whatever, to make them happy. I don't know why that is for them, but I'm really glad I'm not like that.