I've really wanted to contribute a ton to this conversation, but my demanding engineering job that I hate leaves me with very little time to think clearly about anything else

I want to go the teaching route as well, but I probably never will. I've done volunteer after school math tutoring, paid after school math tutoring, and paid undergrad engineering teaching while in grad school. Loved it. About a year ago, I scheduled a meeting with our town's superintendent to discuss the concept of leaving engineering for the wonderful world of high school math. He was thrilled, as people from industry who also have interest in teaching are almost always the most effective in schools. The problem, at least where I live, is that even with a Masters degree, I'd have to take a 55% pay cut. That would equate to moving my family to a cardboard box underneath an overpass. And at this salary, to really do a good job at teaching, the hours put in to planning and preparation, along with follow-up on all lessons and assignments, all on top of the physical hours put into the classroom during the day would add up to somewhere well over the already more than 40 hour weeks I put in as it is. So to teach, I could get paid half as much and work as hard or a little harder than I already do. The personal fulfillment isn't worth that much.
I've also checked out the law school and MBA things. With my engineering background, IP and patent law would be perfect, and even interesting. As it's been noted, though, I don't want to work a 10 hour day, then drive into the city for night classes, and never see my family for 4 years. While less drastic, an MBA falls into the same boat. The return on investment isn't worth the lost "living" time. As it is, I'll work 10-12 hours, come home to see the family, break out the laptop to do a little more work after bedtime, and only get paid for 8 of those hours each day.
Ultimately, I will also stick with what I'm doing for a while. I don't love it, I usually don't even kinda like it, and I'm going to get screamed at in a meeting an hour from now; but I can heat my house, so I'll keep coming back. It's unfortunately the norm I see among engineers in particular.