If you're on track for £76k teachers' pensions plus two full state pensions, that'll be £100k-ish combined. That sounds more than enough to me, but only you will know whether that will fulfil everything you want to do in retirement.
As others have pointed out, it's similar to what you're earning now but you won't be paying for a mortgage, pension contributions or national insurance when you're retired. If you want to buy a private yacht, a couple of horses and a second home in Monaco, then obviously it won't be enough; but I doubt that's really your style.
Like you I'm a natural saver and prioritised paying off my mortgage as soon as possible. It's a great position to be mortgage-free. I found it meant I didn't ever have to stay in a job I wasn't enjoying just because I had to, which is an incredibly liberating way to live.
You say you've got £50k in savings which is around 6 months of your joint income. That's probably a reasonable buffer and personally I wouldn't want less than that. It's amazing how life can throw up all sorts of unexpected issues and, as you know, money gives you choices.
I haven't read the full thread so apologies if these points have been made already, but these issues jump out at me:
a. Your predicted £76k joint pensions assume that you and your wife work full-time until retirement age. Either you or she might want/need to work part-time/quit work/take early retirement and that will impact those figures.
b. Your ability to save is massively helped by not having childcare costs, so make the most of it while it lasts! Who knows whether your in-laws will be happy or able to continue doing it as your DC gets bigger (i.e. more demanding) and your in-laws get older.
c. Children are more expensive than you can ever possibly imagine. I've spent significantly more on mine than I've ever spent on myself.
d. A really important question: are you and your wife genuinely happy with the way you live now? If so, carry on doing what you're doing (i.e. being frugal and saving hard). If not, you could afford to relax things a bit. When my DCs were little, I used to spend a fair bit on cleaners, babysitters, au pairs etc which I viewed as my "sanity money."
e. I don't think you need a financial adviser. Certainly I've never used one. There's loads of information online.