Planned it. It wasn't easy or quick. We'd make a stab at it, get frustrated, and quit. But we'd pick it up again after some months, because we knew we had to do it.
We had both reached the point in our careers where we had to decide: go for the most money, which would take a heavy toll on our personal lives and our marriage? Or try for that elusive work/life balance, but risk earning much less salary and lifetime earnings?
We took the latter option but knew that meant careful planning to afford a comfortable retirement. Spouse was a union worker with good bennies while I was more employable but at at-will worker. We saved what we could although it wasn't even close to the IRA maximums allowed.
Kept plugging away at the planning process and together took a series of very useful (and free! thanks to spouse's employer) retirement/financial classes. Very intensive - they've since simplified it so it's not as useful, unfortunately - but we credit those with giving us that final push to not only get our planning done, but also know the elements that go into how to properly plan.
A retirement plan is like a will - it's a "living" issue. You have to keep it updated with any new thoughts or issues that arise, between a couple. We made a few changes over the years, but having gone through "the process" it was easy for us to decide what to do.
We were able to both retire early, and despite his retiring just as the Great Recession hit hard, no changes were necessary to our finances. We had built in considerable "leeway" in our financial estimates, and as a result have been able to handle additional new expenses without a problem over the last decade.
Without good planning, we would never have had what we have now. There is no easy path to doing this planning, and because it is so individualized there is no 'one best way to achieve a successful retirement.' It takes time and effort, and a constant eye to make sure things STAY up to date and your estimates remain relevant.
But it was worth it. Far and away the best decision we ever made together.