The dangerous debt is gone. What's left — a mortgage, low-rate student loans, maybe a car — costs less than markets typically return. The question isn't if you'll clear it, but when.
Every monthly payment you carry into retirement raises the income your savings must replace. Clear it first, and you need a smaller portfolio to live the same life.
The portfolio you don't need when a $1,000/month payment is gone before retirement ($12,000 a year ÷ a 4% withdrawal rate).
A 3–4% mortgage costs less than long-run market returns. Pay the minimum; max retirement.
Fixed payments make a market drop early in retirement much more damaging. Target $0 before you stop working.
If carrying debt costs you sleep, paying it sooner is the right call for you.