Well... I took the plunge last year at age 56 with significantly less savings/income than you describe. (FWIW- I've got an MBA in finance from a top business school.)
We are similar in some ways. DW and I are now truly empty nest and we just downsized. While I do not have your health issues neither do I have the disabilty income that can certainly cover the costs of insuring against a catastrophic loss.
In my plan I am budgeting significantly less in expenses than you.
However, I'm not feeling pinched and have not had to make any significant adjustments in my daily life.
So, I'd vote "yes". Enjoy.