When I was your age (you whippersnapper!), we had 40K in consumer debt, 30K in car loans, and a few thousand in student loans. We had about 200K in home equity (which we promptly lost when the housing market crashed) and about 200K in retirement savings. So we were a little ahead of you in retirement savings, but otherwise similar after we lost the equity in our home.
Now, eight years later, we have no consumer, car, or student debt (it took us just a few years to pay all that off) and we have 965K in retirement savings, 105K in college savings, 120K in non-retirement savings, 280K in real estate and home equity, and 30K in cash. And honestly, we could have done much better than this had we found MMM sooner. We do have two incomes, but most of the second income has gone to pay for childcare and other home-related expenses that we wouldn't have needed if one of us didn't work.
So...it feels much better to be on this side of it, but you can do it! Once you start paying off debt and saving more, you'll be amazed at how quickly it snowballs.
As for whether to pay off debt as quickly as possible, or invest more, we'd need to know interest rates on debt to be able to advise there.