I've got an approach that works in the Australian tax system. It relies on dividend imputation which we have, but I don't think the US has - but might be worth a look? Dividend imputation is where dividends are taxed at your normal tax rate, but you get a tax credit for any tax already paid by the company.
I have shares of a profitable business (that I work for) in a family trust. I pay part of my income as dividends, with the associated imputation credits. These go to the trust. The trust distributes these to an investment company that I own. The investment company invests the money, and I can draw it down at a future time of my choosing. The neat thing is that the income tax paid on the company's income is equal to the imputation credit, so no out of pocket cost. And this shows up as tax that the company has paid, so can be passed on with future dividends.
For an example, and choosing nice round numbers of $1000 in additional income, a 5 year period to I stop working and draw down, and a 10% pre-tax rate of investment return (5% capital gain, 5% dividends). Marginal tax rate in earning year = 46.5%, company tax rate = 30% and marginal tax rate in consumption year = 21.5% (or may be 34.5% depending on how much income I want). Dividends are taxed in the year paid, capital gains are taxed in the year liquidated, Australian capital gains tax is based on 50% of your marginal rate.
Scenario 1: receive income directly, invest in own name.
$1000 of income would be taxed at 46.5%. I would receive $535 to invest. Any earnings on this would be taxed at 46.5%. After 5 years, I would have $774, and a CGT bill of $9 or $14 depending on my retirement income level. i.e., at 21.5% level (up to $37k/year), I would have $765 to consume. At 34.5% level (up to 80k/year) I would have $760
Scenario 2: receive income through company, invest in company, pay to self after retirement
$1000 of income would be taxed at 30%. The company would have $700 to invest, and $300 of imputation credits. Any earnings are taxed at 30%, with the tax paid added to the imputation credits. After 5 years, this would be $1009 plus $405 in imputation credits. i.e. gross income of $1414. I'd then pay individual income tax on this, leaving either $1110 or $926 depending on the retirement income level (and tax payable) that I want. i.e. if I keep my retirement needs below $37k/year, I'm 45% better off, while if I my retirement income is up to $80k/year, I'm still 22% better off.
Of course, its not as tax attractive as the Australian superannuation system, (15% tax, tax free in retirement), but I want to be able to access it at 35, not past 60.