Yes, raising children is difficult (especially the first one, since in radically changes your life, you're no longer independent). It's also rewarding, but it _is_ difficult. And that's for the best case, when you get a normal child - I don't know if I can even grasp the difficulties of raising a problematic child (e.g. diabetic).
You should absolutely not do it on a whim; but if you do it, I'd say "go all in and enjoy it". Don't regret your previous life, fully embrace the new one. It has its perks, too - and they are not few. And (at least I hope so), it only gets better as times goes by.