I know what you mean though by family life requiring me to be engaged, present and not being free to roam around like I probably would. What sort of things did you allow yourself to do to "feel" retired while being a parent to young kids?
The ability to become a fully engaged and present parent
was the deciding factor in accepting an early retirement offer by my employer!! I no longer had the stress and travel required by a "career" j*b to interfere with being a constant presence in my sons lives (they were 3 and 1 when I retired). I retired TO being a parent.
I do still work three months of the year, where the boys see a more typical Dad going of to work....but fortunately the job is not a career and I generally decide my own hours. To keep them well grounded, I've kept the family lifestyle rather moderate, no McMansion, only buy used cars, no interest in "Big Boy Toys" (but we did inherit a fishing boat from their grandfather). Before high school we traveled a lot as a family, with a pop-up camper. Lately, I've encouraged them to be self-reliant, earn their own money with summer jobs. Could I provide for all their wants....sure, but what would they learn from that except an entitlement attitude. But they will finish college with no loans
I'm the Dad that that can always be available for whatever: coach 6th grade soccer team, transport and participate in Boy Scout campouts (had a great time on a week long backcountry canoe trip this summer), treasurer of (it seems) every activity they get involved in, walk to school with them when younger, be home when they return. I'm the typical soccer Dad, complete with minivan.
Starting the transition to them moving out, older one in college, younger one gone in a year. Then, wife and I can move to more of what most folks consider a typical retirement.