The entire post-WWII world order has been to their benefit at our expense.
I’d rather my tax dollars go towards state run health insurance than protecting Germany from Russian shenanigans.
The USD is the world’s reserve currency and the US has benefitted enormously from 75 years of peace in Europe.
The EU has certainly benefited from US protection but even more so has the US, US companies (but sadly not all US citizens), from the US’s position as absolute top dog in the world.
Also the problems with the health care system are unrelated to the cost of the military.