With six nephews we haven't missed a thing either.
We can have all the fun we want with them and our dogs, not to mention all the neighbor's and friend's children. I really don't care what people think of us not having children. It's none of their business.
Besides, some of the parents that I know should have thought about having children a little longer, IMO. I can't believe how many ignore their own kids. The kids might as well be raising themselves.
And yes, I have come across enormous numbers of people who should have never become parents.