It's a hard problem when you have multiple competing goals and you're trying to optimize them! :)
Here's how I would approach your question: I'd make a list of goals, then I would prioritize them, then I would fund each in turn.
So here are your goals arranged in the order I would arrange them if I were you:
1. Maintain day-to-day living
2. Pay off high interest debt
3. Emergency fund
a. house expenses (roof, windows, HVAC)
b. car expenses (maintenance, repair, replacements)
4. Retirement
5. Kids' college
6. Mortgage
So can you afford to maintain your day-to-day lifestyle on the $53K+babysitting? If not, I would start working on fixing that problem ASAP by cutting expenses or raising income and temporarily use some of the $73K to cover the gap.
It doesn't sound like you have any high interest debt, but if you did, I would take whatever from the $73K to pay those off. If you don't, you're just guaranteeing that you're wasting money (unless you're in a cash flow crisis, see previous paragraph).
Emergency fund should be 3-6 months of expenses. For you, probably the higher end is needed for several reasons - you're a one-income family with two small kids, and you seem to value security (a trait I share with you). You could add into this an amount for replacement cars also.
A word about cars and houses - you should economize in these two areas as best you can. Buy used reliable cars and take care of them. I personally am of the opinion that paying to maintain and repair an existing vehicle is almost always cheaper than buying a new one. I'm retired and drive a 1993 sedan worth about $2500 and plan to keep it for another 5-10 years.
Back to the list.
You're welcome to rearrange the list in terms of priority if you want. The point is, you fund things in order of what is valuable to you with the $73K until it runs out. When it runs out, you've done the best you can with what you have. The trap to avoid is to say that everything is important and to then throw money willy-nilly at your goals randomly without any sort of plan. Prioritize ruthlessly.
What I did is I fully funded my retirement if I had extra cash at this point, knowing that I had my job to cover day-to-day, and I had an emergency fund cushion I felt comfortable with.
Kids' college is a pretty personal choice, and whether that comes before or after paying down your mortgage is up to you. Other than kids' college, I'd leave the mortgage until last because you've got a ways to go and have a reasonably low rate.
Try not to freak out about retirement savings just yet. You two have a decent amount saved for your age and should feel proud of that. Keep working hard, making good choices that align with your values, and you'll get there.
Good luck!