Financial situation

So my husband and I are emotionally ready to have a baby and are ready to be parents and we both want to have a family soon. We decided we were going to start trying, but then we changed our minds because of our financial situation. We have a small amount of debt that will be paid off in October. And we own a house and have low mortgage payments. We have one vehicle that is reliable but it's a truck and we could barely fit a car seat. My question is, we both decided that in order to be comfortable with having a baby we should have a huge amount in our savings, all of our debt paid off and have a newer van in good shape That is also paid off. Reason being because we want a big family, hopefully 4 if possible and I want to be a stay at home mom. Has anyone else gone through this? Did you find it was worth it to wait til you were more financially secure? I'm 21 and I always wanted to be pregnant before 22 but now I'm considering being 25ish. What's everyone's opinions?