I don't know if you realize it, but there is probably a strong connection between the "I can execute the 'full plan' at any time" part of your life and the "autonomy and [..] comfortable [..] position" part. In other words: In our times there is no downside in preparing your independence and working on your autonomy except that it is a lot of work. There is no real alternative either, even and especially if you plan to be dependently employed until retirement. Once you are in a dependent position and you don't have the option to leave short term, sadly the risk of being taken advantage of is real.
Houses and toys are plentiful and of low value. The payoffs I have in mind are the great luxury of being able to afford creative freedom and integrity, and the pleasures of mastery. Sounds like you are rich in all that - the wise person's wealth
13 years later: I can execute the "full plan" at any time, but I find myself to have sufficient autonomy and be comfortable enough at my current position.
This plan is certainly not the highest payoff in my case, as I can't buy the toys/houses my peers have. However work/life balance is great, and I still have the option to build things without needing outside funding.