I"m 36 and still waiting to have kids. Not that I ever hoped to wait this long, but life just didn't connect me with the right partner yet, and the economic struggle has also delayed all my other, non-family dreams. I worry about all of this too. I don't have answers for you, but it's nice to hear someone else articulate it. I know I'm not alone. :)
Wishing you — and your children and parents — many more happy, healthy decades together.