The short answer is probably, but I think we'll need some additional info to help you answer this question. Specifically, we would need to start with:
1. How much of your income is the wife's salary? How long do both of you want to keep working?
2. Your expenses are $5,800/mo, or $69,600 per year. Do you expect to continue that level of spending for the time being? To answer this question, would probably need to see how your expenses break down (for example, if you are ditching a long commute for this new job, you might have reduced gas costs. Or maybe you move to a smaller place when kids move out).
Just for an example, let's assume that you are done savings for kids' college, & both plan to work to 65. Since you are getting $3k/mo in pensions beginning at age 65, you need $2,800/mo or $33,600 per year from your retirement accounts. A 4% SWR on the current combined balances of your 401k/IRAs/taxable accounts is $34,000. If you won't be touching these accounts for another 25 years, then yes, you are set, all you need is to bring in enough income to cover annual expenses (right now, $69,600 per year after taxes, or let's say roughly $87,000 gross salary).
Another way to look at it is that your current SWR is $34,000 (this is 4% of the $620k in the 401ks/IRAs and the $230k in taxable accounts). If you want to start drawing down that amount, then you just need $35,600 after tax in earned income to supplement your investments.
A lot is going to depend on your risk tolerance (how much margin of error you want in your projections) and how your expenses may increase/decrease over time. Is that helpful?
