I think it is, for me, so far, but I think I went in with eyes fairly open.
In our case we both spent our twenties studying, traveling, building career, etc etc. Had first at 35. Tbh, I've done all the clubbing/pubbing/etc I was ever going to. Have traveled and lived in far away places, was at a point in my career where staying in the same job for a few years would be expected and would not have a negative long term effect so I can sit out a couple of mat leaves and not have it stand out on my cv. Also almost all our friends have kids already so we were going to end up either needing to find lots of new people to hang out with or spend our weekends in the park or at child-friendly brunch spots anyway. So all that meant we didn't and don't feel we are missing out on lots of other fun we could be having if we were child-free.
I still have a pre-schooler, so I'm at the physically exhausted stage, but so far I find that the days feel longer and harder but also more rewarding in lots of ways. I get more joy out of things, its like a new perspective. Getting to teach and experience things in a different way. From a purely selfish perspective, there's a lot that I've personally got out of it.
BUT. I have a genuinely equal co-parent who has taken at least half of the burden. And I couldn't have done it without that. I'm someone who always wanted children, but I now know I literally would have had a breakdown if I had ever tried single parenting a baby. And I work full-time or four days a week (have switched between both) so have a break that way too.
I appreciate having teenagers will be tough in different ways. But I'm also interested by what that will be like, having conversations, etc etc. It is very different when there are special needs and health issues and that's totally unpredictable but I feel like I am glad I've been able to be a mother, and it hasn't involved sacrificing my life. But equally I really did do a lot of planning and thinking about timing to make sure I was in the best financial and career position to do this.