@AWholeNewWorls , it's certainly not too late. Have a look at the MSE Pensions Forum, there are some very knowledgable people on there (don't get intimidated by some of the giant pension pots, there are lots who are working with smaller amounts).
Your DH's idea of buying an annuity is one based on a financial market we haven't seen for years. Annuity rates are very low (but who knows, this could change), the other option is 'drawdown' for DC pots. You might be better putting more into your work scheme if the employer matches it, but a separate SIPP could be more flexible.
Your concern about savings is slightly separate - SIPPs and workplace pensions are tax efficient, but they are limited in terms of when you can access them - currently 10 years before State Pension Age - and at your age, that could change several times. So you should have separate savings that are accessable earlier. For example I have a S&S ISA I can access before I reach 57 if I needed to, and which if tax free on the way out if I am still working. Then the SIPP I will put into drawdown at 57 to live on between then and when I decide to take my DB pension. That will be 25% tax free lump sum + my personal tax allawance. You should also aim for easy access cash savings so you don't liquidate more of your investments than you have to in a downturn (like now).
I know that sounds like a lot of money to find in savings, but you have the advantage of starting early, and taking financial education seriously. My savings really didn't begin to build up until I was in my early 40s, (house, child, divorce, 2008 financial crisis,remarriage, larger house etc), and since DD left home.
Hope some of that helps.