Honestly, if it wasnt for health insurance benefits that comes with full time jobs. I would gladly work as a freelancer and build software that actually has a real world impact.
Actually, health insurance is not that expensive. A couple of years ago my wife was out of a job and checked what it would take to have health insurance on our own. Turns out a top-level plan for a family of 4 cost less than 200 USD a month. Given that as a contractor we typically make a lot more than with a full time job (between 1.5 and 2 times), health insurance is not a good reason for remaining full time.
A silver plan for a healthy mid 20s male is $400/month in NYC. That's just for a healthy young male, the least expensive demographic to insure. AND that's for a high deductible HSA eligible plan, so out of pocket max per year is $7k for single and $13k for family.