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Congratulations to OP. Many of the "can I retire now?" questions do not have important information that you've already provided - the magic "how much is the current spend?" question that no one seems to bother providing, however it is entirely half of the 'retirement equation' to solve!
I know SF is a VHCOL area and you have solved also an important problem - what to live on before the pre-tax accounts (and Roth conversion / withdrawal opportunities) get unlocked, which is your after-tax brokerage.
Discussion of SWR aside, the loss-aversion psychology means frankly that your assets will in all likelihood grow faster than you are able to spend. At anything above $2.5M (that's a defendable spend of $117K/year at 4.7% SWR) the principal will continue to grow. There is plenty of evidence that retirees hesitate to spend down principal, and that a majority of retirees see their assets grow. (I've seen rates averaging way below the 4% commonly quoted - on the order of 1.9% - of actual retirees.)
Regarding your healthcare concern, it's valid. COBRA is only 18 months, and you may find your non-employer-subsidized rate is triple or quadruple what you pay not (and again for only 1.5 years isn't long enough until Medicare).
So you can do what most people do - simply shop around, and the best way is with your state's ACA plan. Yes you can likely manipulate your MAGI (from the after-tax brokerage funds) to qualify for ACA subsidies (oh nevermind your rental income may push that up, along with other passive income sources) but for me it turned out that buying unsubsidized was the best way forward for us.
It's a fixed cost - but for a limited time - and enjoy the best years of your life, the "go-go" years where you have the resources, the time, and the energy/health (about 15 to 20 years!) to do whatever it is you enjoy doing.
FWIW read "Die with Zero" for a good model of decumulation. It's a topic of great relevance - how to turn the discipline of accumulation into a discipline of decumulation. Because at $4M+ it's going to be hard to spend it all (frankly) and better to spend it while still above-ground.
And the recipients of all those assets is clear: 1) current consumption while you and spouse are still alive, 2) left for inheritors (children) either while you are alive to see its effect or after you pass away, 3) left to charity, or 4) left to the government.

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