Most ETFs have returned about 7-8 % average long term (before allowing for inflation). Not a bad return, but very different over 20 years from 10-15%
Vanguard's predictions of 3-4% over the next decade mean that if you do a straight dollar calculation you'd be closer to ~7%, because that 3-4% number includes inflation, once again.
Vangaurd is predicting low growth of 3-4% over the next decade.