You mean $173K saved, right?
You want to know how much money you need to save to get from 59 (retire) to 62 (SSI), with a constant spend of 5K/month?
Ignoring inflation, in ten years you'll need $5K a month for 3 years, than $1700/mo forever. Currently you have $173K(right?), which provides $580/mo under the 4% rule. I'd think of it like this: You need to get to where 4% supports $1700/mo, plus the extra bit to get you from 59 to 62. That's ((3 x 60,000) + (20,400 x 25) = $690,000 is what you need saved on paper. This could be thrown off by a lot of things, including market returns, changes to SSI law or your calculated earnings, etc. With limited time to compound, I'd think you'd need to target about $50K a year in savings to be confident of getting there, but that could vary dramatically.
Health insurance is for someone else to answer, but it may depend on what state you live in, and whether they support people with lower/no income. If you live in a red southern state, there's a good chance you're right to be worried, but in CA it's not much of an issue.
Here's some homework: Think about delaying SSI to get more payout. Would that make sense or be worth it? Also, do you really need $5K month with no mortgage, or are you still mentally including it? Does it make sense to pay your home off early?