No regrets whatever. Our kids were raised on a shoestring, for a purpose.
Our ambitions for our children were to give them the health, education and skills, to create confident independent adults who could choose any life they wanted. Simultaneoulsy, our ambitions for ourselves (DH and I) were to be debtfree, mortgage free and retire by 53.
Our kids had a pretty simple cheap and active childhood; our domestic priority was good nutrition for health; a lot of fresh air and excercise. Much of our furniture, toys books games and clothes either came from jumble sales or were home made or recycled. Before school age they were always at our elbows "helping" do our real work and learning to use real tools ( cooking, cleaning, building, making and mending, digging, fixing and renovating things). They also were learning to focus attention and be persistent ... when things go wrong, find another solution.
Our holidays were all in Scotland (where we live) and remote, in some rented cottage/ caravan or camping. It usually rained and the children always contrived to incubate an infectious disease within hours of arrival ( measles, mumps and chicken pox).
We were mortgage free by 45, working part time by 50, retired by 55. Our kids went to state schools, top universities,and we had saved enough to cover their undergrad expenses so once they turned 18 we were free. One of them had just graduated from Cambridge when he announced he had decided to do medicine instead; we replied "Sorry, our uni budget has just started on number 4; he's picked a 5 yr course so no spare dosh". He replied "I know, I'm going to live cheap and work part time". Which is what he did.
Having seen our health benefits from working part time, the middle aged kids are also working part time, will be mortgage free in two or 3 years, one has a second home in France. they all plan to retire by late 50s.They have travelled the world, worked abroad, and are very, very canny with money.
Before we married or had kids DH and I had already travelled widely (Africa, Middle East. USA. Europe) and once the kids were off the nest we carried right on. We've had no inheritances. Everything we have we earned or made. We still have pretty much the same old lifestyle priorities we gave our kids; good nutrition, lots of fresh air, good sleep.