I think we are all different aren't we in what we expect from retirement. Some feel a need to be busy and on the go, filling their time belonging to various groups, volunteering etc and not happy to sit and "be". Others are more content just to "be" and take things at their own pace - perhaps joining some groups, or perhaps not. Others may fall somewhere in the middle of either of these. I suppose what I'm trying to say is that "one size does not fit all".
As long as you have enough income to cover all the necessities and to cover what it is you wish to do with retirement, then I would suggest seriously consider retiring, but if you feel the time is not quite right, then continue working a little longer, perhaps looking at reducing your hours as a gentle easing in to retirement.
So much comes to bear on these decisions, of course - your health might be suffering or you could be as fit as a fiddle, you might hate the job you are in or you might love it, you might have bullying work colleagues, or you might not, finances might be tight but they might not be. Only you can know what is the right choice for you. We can give you our experiences, and they might help a little - but that's just what they are - our experiences, and none will be exactly the same, just perhaps similar.
My advice would be to check out what your income is likely to be once retired, look at what your likely outgoings are going to be, remembering too, that some outgoings will cease or greatly reduce, others might increase slightly. Take the advice of a regulated financial advisor, if need be, plus contact pensionwise, and also contact the state pension people for an estimate and take it from there.
You say you are worried about having nothing to do when you retire, so perhaps it might be an idea to join a few things that might interest you before you retire which you might be able to take up further once retired. (I know lockdown makes that difficult at the moment, though many things are available online). I don't know what your interests are, but perhaps a keep fit class, birdwatching, a book club, futurelearn, learn a new language, sewing, WI, church groups, coffee morning groups (some happen at weekends), rambling (once it's allowed again), National Trust/English Heritage membership, a running group, gardening etc, etc.
Good luck with whatever you decide.