You can retire. Take care of the details ASAP and do what you want.
Fwiw, if you don't want to sell the rentals, you could take a mortgage on one of them and gain great liquidity. In your shoes, I'd pick one to keep, then mortgage the other as intermediate step that's not selling them. But I'm comfortable thinking that stock returns exceed mortgage costs; you might not be. If you don't want to sell or mortgage a rental, just make sure you've planned out how to withdraw money from the 401k if you need it. You have enough resources, your issue is liquidity (and return on investment, to the extent that the rentals' ROI is low, but you have enough excess to survive low ROI, so liquidity is the key). And for short term liquidity, maybe get a line of credit on one of the rentals.