Congratulations, OP! Paying off debt is so satisfying and provides a guaranteed return over the short run. DH and I paid off our house a few years ago, after we paid off the last student loan, and it feels great not to owe anyone anything. We love having a lower overhead.
The reduction in stress for us, as small business owners, was also noticeable. Now, if either of us has a lower-income month, it's not a big deal because we don't have any large monthly bills. Like you, we also had other investments along the way that we fed regularly, maxing out retirement accounts when possible first, so we didn't lose out completely on the market growth over the time that we paid off the mortgage and student loans.
Also, in our state, paying off the mortgage on one's primary home is a solid asset protection strategy. Here, there is a significantly greater creditor protection allowed to homestead property that is not allowed on some other investments like taxable brokerage accounts. So, more peace of mind there.