As an older mum (I was 40 when I had my one and only) I can relate to parts of your story - life is good so why upset that? No one can decide for you. I’ll be as honest as I can though.
Pregnancy and childbirth changes your body. Eg I can’t use a mooncup anymore. It just falls out. Also pelvic floor still needs some work. Probably related.
I’ve become used to being tired to the point I just don’t really notice, and I often wonder what on earth I did with all my time before I had a child. Hours and hours of doing whatever I wanted. I miss those days sometimes.
Like your friends we have no money and no time, but we are happy. Watching my DC play with his bestie in the park and giggling at them with my new bestie who I wouldn’t have met otherwise, makes everything worth it. And it does adjust your priorities.
How much your life changes partly depends on you though. You can do the things you like doing now, you just have to slow it down a bit, adapt things and bring them along. Eg if you like cycling, you incorporate this into family life. Enjoy crafts? Get the kids involved. Like museums and galleries? Bring them too, then find a playground after. Some things are harder though like house renovations, and some hobbies might be on the back burner for a while whilst the kids are small. Clothes shopping uninterrupted in an actual shop is something I never do any more, but actually I don’t really miss it and can’t afford it anyway!
Also depends on your family set up and if you have people around you to help or babysit occasionally, or often! I see others who have family who live in the same town and how different life is for them and us, although I know everyone has their own challenges.
Is it worth it? For me yes 100%, I love our team of 3. Sharing the things you love and seeing them develop their own interests is incredible. There’s things I know I will enjoy doing again when DC is older and doesn’t need me so much, too.
Parent guilt is very real, I feel I’m only doing an average job of work and parenting most of the time. But being a parent has changed me, I want to be a good example and show DC how to be a good human. That’s the goal, anyway!
good luck with your decision and the next chapter