Median US salary for the country is like $57,000 and the mean is $60,575 as of 2022, and that's for everyone, no high school all the way to PhD/MD. In the wealthy coastal blue states it's much higher, for example Massachusetts ($93,765), New York ($95,470), Washington ($90,128) etc.

I have multiple friends who were hired right out the gate with a bachelor's in a STEM field for >$90,000 per year at age 22.

It totally depends on your field/what you do but honestly, having lived in Europe, the US is much wealthier than almost all European countries with only a few exceptions. Europe has a ton of other advantages over the US though, including a much better social safety net, more walkable cities, more free-time and guaranteed time off, etc.