You're currently scheduled to pay $137,00 over the remaining lifetime of your loan. After the refinance you will pay significantly more over the lifetime of the loan (~$193,800), but you're shifting a lot of that further into the future where, at even 2-3% inflation, the same number of dollars will be worth less.
Assuming a discount rate of 3%* monthly payments of $541 for 30 years is equivalent to a cost of ~$128,000 today. Monthly payments of $1,341 for nine years is equivalent to a cost of ~$126,800 today.
A net cost of only $1,200 total to cut your spending by $800/month -- $9,600/year -- seems like a really good trade off. Provides more flexibility with more cash on hand and less risk of losing your home (and less risk of being stressed about losing your home).
In your shoes I'd go for the refinance so long as you think you can commit to saving and/or investing the extra $800/month. Okay to tap into those savings to support current spending if you do indeed hit that income uncertainty you are worried about, but if the $800/month goes towards increasing your regular monthly spending you would be giving the the benefits of flexibility and security that justify the refinance.
*Some people would use interest rates, some inflation, some the long term CGAR of the stock market for this discount rate. This is towards the middle of those.