For background here is an article by a writer you might recognize covers this topic:
First Retire, then Have Kids, It's not completely targetted at your situation, but nobody else has posted it yet.
Also here is as good a list of
The Pros And Cons Of Waiting To Have Children as you are going to find.
This is one of those questions that depends heavily on your personal situation, and unfortunately you can't try out both paths and then decide which works better for you. If you are doing well financially, are close to FI, have a job you enjoy, and have good parental leave, then you are starting off in a good place and I think you are more likely to be happy with either decision.
We were in a similar situation to you when we had our son: early 30s, two good paying jobs, good parental leave options, and relatively close to FIRE. We didn't think about waiting until FIRE, and were persuaded to have a child at that age based on fertility concerns (which may be
overblown). It has worked out ok for us and we are happy where we are, but if I was able to send advice back to the past, I'd tell them to also consider waiting until they both no longer need to work.
As I said, there are upsides and downsides to waiting, and being in the position that we know either one, or perhaps both of us, could quit to stay home if we needed is a nice safety net. Similarly, we took advantage of our parental leaves (8 months paid between the two of us, could have streched close to one year including unpaid), and both enjoyed that time. That parental leave also taught us that neither one of us necessarily wants to be a stay at home parent by them selves: it's great when both of us were around to help and also provide adult company, it's not as much fun when you are stuck at home alone with a teething infant. Everyone's reaction is different, but that is some impetus to FIRE before kids.
The upside to not waiting is that it's easier to justify paying for daycare now, and daycare is great: someone else watches your kid for you! I'm only half kidding when I say I'd like to work childcare into my FIRE budget..
Another consideration is your own personality and how you handle stressful situations (and perhaps sleep deprivation): If you are a happy go lucky person and generally adaptable, you might do fine with kids + work.. if you find yourself generally stressed about life and work, it might make more sense to delay waiting to have kids until you can at least remove the stress of work.