You did your children a great favor - I hope they appreciate it. Thank you for sharing this.
I agree - having no debt is also my goal. I would rather buy no car than lease it. Only with real estate I haven't achieved it yet but I will in the future. The opposite of what most people do here - keeping mortgages till they die.
So you being in the "empty nesters" can you confirm the picture? Saving opportunities go up significantly?