Congrats on doing so well accumulating assets to be just about FI. Looking at your situation, you seem to be a bit illiquid, in that all of your assets are tied up in real estate or retirement accounts. It appears that you only have liquid assets of $21K. It is great that you have an emergency fund of just about 1 years of expenses, but I would recommend building up a liquid diversified investment portfolio (like a few Vanguard Index funds), that you could access without some of the inherent limits you have with IRA and 401K assets. This will be very important as you FI.
Based on the numbers you provide, you will have over $165,000 in additional savings over the next 3 years. You could put 100K+ towards and investment portfolio of index funds, and then pay down ~50k on the loan for your second property, so you do not carry as large a debt going into FI. This would be sort of a more balanced approach.
Overall though you are doing fantastic. I mean technically you are already FI. $1,600 in rental income + ($200,000*.04 = 667)=$2,267 in current income. Your current expenses are only $2K a month, so you are already FI. Your choice to work another 3 years is simply about building up a bit more of a buffer and cushion.