Looking back on an achievement, I usually wish I'd gotten it done faster. Wishing to have avoided mistakes is a fallacy. I didn't have the information I have now then. So the only thing I could really have done better is move faster.
There is no upside to being slower. Your compiled goals can include staying healthy—or not. But if you've figured out your unique mix of goals, the best thing you can do is to try to reduce as much as possible the time it'll take you to get there.
Curate those goals. Don't make false equivalences. Rewards work in thresholds. You'll probably be better off with one ambitious goal than ten average ones. The fewer goals you have, the more you'll be able to compress their time.
A straightforward way to compress time is to see every minute not spent on your goal as a wasted minute. Because of the way results compound, every additional minute invested is more valuable than the previous one. When you reach your goal, those minutes are the ones you'll wish you had cut.
Peter Thiel has a famous mental framework: "How could you achieve your 10-year plan in the next six months?". There is a broad category of such questions. My favorite one is, "If a bomb were strapped to my head and it would go off if I didn't reach that goal by the end of the next year, what would I do?". Imagine your whole family dying if you don't reach your goal. If you're imaginative enough, you'll think of ways to compress time you hadn't thought of before.