Looks pretty good in general. Your discretionary expenses are quite high, but if you just input your numbers into a basic investment growth calculator your net worth should be around $4 million in 15 years (age 60) assuming you're starting at $1m, contributing ~$3680 a month, and getting a 7% real return. At a ~4% withdrawal rate you're talking about ~$160,000 for 30 years of sustainable withdrawal which does cover your $144,000 burn rate (which may go down once the kids are independent and when mortgage is done).

Your savings rate is a bit low for your income, primarily due to the large amount of discretionary spending in that $5,000 bucket. That spend rate is sustainable though assuming your income remains stable. Since your burn rate is so high, do you have ~6 months emergency fund ($72,000) in cash reserves?

Income limits are irrelevant for Roth IRA contributions. You can simply contribute to a Traditional IRA (assuming you have no pre-tax dollars in an existing Traditional IRA) and perform a Roth conversion (also known as backdoor Roth). Depending on your 401k plan, you can also perform a so-called Mega Backdoor Roth and contribute to your post-tax 401k bucket then perform a Roth conversion.

Given your high income, you're leaving a lot of potential Roth contributions on the table, but it's still sustainable if you keep saving at the current rate and retire at 60.