Usually, when there is really, really never a good time for something, the answer is "don't do it", not "go for it ignoring all logic and reason".
Now, there is a difference between just getting cold feet and it actually never being a good time. For example, if you had a choice to sit an exam when ready, you could be tempted to always postpone it another week, because there is always more studying you could do. But realistically, at some point you are actually, objectively ready and should go for it.
So of course you need to consider that one of you will have to become a stay at home parent, or you will need to hire someone to do so instead. That may mean you would need to significantly cut your other expenses, have a much longer commute, live in much worse/smaller accommodation etc. Of course you need to consider if your neighborhood is child-friendly, so that your child can play outside and socialize with other children. If you are planning to involve your relatives, of course you need to first get their informed consent.
Having children is a decision and a choice. You are not forced into it. And it is a choice that must be made responsibly.
There are definitely bad times. But many of the things you mention contradict each other?
Can I afford children? Get a well paying job. Well paying jobs require more hours. That means you have less time to dedicate to your kids.
Realistically, unless you have at least $500,000 saved up, you’re taking a financial gamble having kids.
If they have serious medical issues, any amount of money could be wiped out.
I’d argue there are probably too many people who should be having kids not having kids, than people who shouldn’t be having kids having kids.
Both are obviously happening. And in probably biased because I know so many childless software engineers who make six figures.
But there really, really never is a good time.