I didn't and don't want to. My mortgage rate is significantly lower than the rate of inflation, so my bank is essentially giving me free money. Paying it off faster would be insane.
The sub 5-6% interest rates were a result of the housing crash. Prior to 2008/2009 the rates were pretty much where they are now.
No one can for sure tell if we’ll ever see rates so low again.
Cheap/low interest debt is good when compare to inflation.