Take the time and do it now as well. Having gotten into it, I wish I'd spent every gap in school and employment out in the world, on a bike. It's too precious an experience to leave for later.
I ride, but I don't have time for serious bikepacking right now. Three kids, two dogs, full time job, etc.
Understandable. I would suggest that when the kids are old enough, consider doing smaller tours (a weekend, a week, etc.) when you can and not waiting until retirement to do any touring. The latter was my plan. Until I got colon cancer. I still ride but I can't do more than a couple of days in a row before I get digestive problems that put a halt to touring. With hindsight, I wish I would have done some one- to two-week tours while I was still able to.