You actually can start really simple. My wife and I are in a similar situation, although we are about 5 years ahead of you in the process, and we did not have nearly as much debt.
Although you have already experienced delayed gratification, that's going to be the key to success for you. Buy a nice house, like we did, but resolve that you will only fully furnish one or two rooms a year. In a nice house, that's likely to be 5 or 10 K per year. Doing it all at once would just put you further in the hole, and ultimately you will enjoy knowing you're getting nice things over time and actually paying for them right then and there.
Second off, find some other cars that interest you. In 20 years, you can have your Mercedes. For now, think 30K and under.
And definitely fully fund your retirement each and every year.
If you can get through the first 2 or 3 years without blowing up financially you will have it made.
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