I agree with what's been said. Take the mortgages out of the equation for now; your two rentals are covering themselves, so just let them ride and don't worry about them. Your current home has a big mortgage but a fantastic interest rate for the next few years, and $1700 is a really reasonable housing payment for someone with your level of income, so nothing to worry about or be ashamed of there.
You reference some other debts, so I would focus in on those. Try to reduce some of your discretionary spending so you can eliminate whatever other debts you have, and when you are debt-free except your mortgages, start socking away retirement money and other savings. You should be able to build up a nice nest egg with the amount of income you have coming in, once you don't have any debt payments besides your mortgage.
Good luck!
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