It's complicated...
Parents were HS grads, working as a production mechanic at a union factory, and a billing clerk. I suppose their income level made us middle classish, though given the depressed nature of our locale, we were almost upper middle by comparison.
My income over the years was well above median, but certainly any skilled tradesman had the potential to earn more. My income in retirement is about median for "household" income, though I'm single, so if, heaven forbid, I was to marry, that would bump "us" into a higher category.
As far as lifestyle, I'd say solidly middle class. Thankfully, I can eat out at a level above fast food, but well below Ruth Chris. My home is nice, my car is relatively new, but I have no debt besides the mortgage, and could easily cover a few thousand for an emergency expense.
I've seen, up close, both extreme poverty and extreme wealth. Glad I'm neither, not that I have an aversion to wealth, just never had whatever it took to get to that level.
I'm likely on the lower end of income/assets in comparison to the demographic on this board, but I don't give that much thought. I do sometimes find it bemusing that folks with 10x or more my nest egg can quibble so much over seemingly trivial purchases or expenses, but then that's why/how many of us ended up with a nest egg at all...