I agree with the main message: we are not underpaid. Considering the risks we are taking (both in life and in career) we live comfortable lives indeed.

A side note: when you said "I didn't have to pass a single licensing exam" I immediately thought of the way our profession tends to have that kind of exam every time we interview each other. A big part of interview for a software developer is based on the exam-type material; this is very different from the way other professionals, even engineers, have their interviews. (Does not contradict your message, just a note.)