I agree the main benefit is being out of the EU. On balance, at the time of the vote, I felt that a future outside of the EU was better than one in it because at least outside of the EU we have potential to do great things. OK we haven't, because we just replace one shit lot of MPs with another lot of shit MPs (a bit like swapping a box full of golden retriever turds for a box full of doberman turds, maybe one is less bad but it's still unpleasant shit). But the point is, in the unlikely event we ever elect a government of capable people, the country has the potential to prosper.
Remember, we weren't voting to remain in the EU as it was in 2016, permanently frozen in time. We were voting to continue a process of ever-closer union.
The choice to me in 2016 wasn't clear cut. I saw the choices as a worse future in the EU, or a worse future out of it. The decision was not which would improve our lives, it was which would be the least terrible in the long term.
At the time my feeling was that if we left the EU, for a decade or so things would be worse than if we remained, but after that they might be better. I now feel two decades is more realistic. I made the mistake of assuming if we voted leave, remainers would get behind the idea eventually and decide that it was better to make the best of the situation rather than hope things went badly so they could say "I told you so." That was a mistake on my part. Another mistake was thinking we'd leave within a year or so of the vote and not drag it out until the end of the decade. Then Covid hit and the whole world took a hammering.
It's important to remember that the pre-vote Cameron period was hardly a golden era. It's also important to note that the rest of the world has suffered from many of the same things Britain has suffered from since leaving the EU. Inflation, energy costs and mass migration are problems many countries have.
Yes things are worse now than they were in 2016. But they'd be worse than they were back then if we had voted to remain. Honestly I don't feel any regret at the way I voted. If anything, it just reinforces my feeling that however we vote in any referendum or election it doesn't really matter. The only reliable truth is "today is bad, but tomorrow will be worse."