When I was 21, I was taking the bus to campus, my room was maybe 200 sqft, shared a kitchen/bathroom (5 students on the floor all sharing the same bathroom).
I didn't have a girlfriend, worked as a math tutor, and student registration assistant, and at a vietnamese pho place. I even teamed up with other poor students to do "meal" nights where we would make a meal from combined ingredients we would all pitch in. My grocery bill per month was sub-$60.
I didn't have a car until I was about 6 months into graduate school.
I was happy, and enjoyed living the student life.
You're doing pretty good. It all depends on how you judge success. One of my closest associates lives in a $1.5 million bedroom luxury apartment in West Hollywood. He's in his mid-40s, no kids, no family in the area, and thinks his life is awesome. Myself, I think that's a nightmare being a father myself.
Love the wife, appreciate the kids. Friends, well, trust me you will make a lot of friends later in life.