My wife wanted kids and I was okay either way. I didn't prioritize having kids, but I thought it might be nice. I was somewhat aware of what life with kids would be like, but of course it's different once you have them.
I don't regret it. My life feels more meaningful with a kid. I want to pass on what I've learned to him and watch him grow up. Financially, we're fine and can afford it. Socially, we both had to basically give up nearly all hobbies for the first 6 months or so, but they're slowly coming back. We're starting to go out again, and we're starting to have the energy to play games and stuff when we have time to ourselves.
I'd say that the change in life after you have kids is similar to the change in life after you get in a relationship. The highs are higher and the lows are lower in a way that is hard to describe to anyone who hasn't been there. Like an SO, a bad moment (or day, or week, or whatever) with your kid can make you feel absolutely horrible, but when you have a good moment, it's the best feeling in the world that you wouldn't trade for anything. Like any family member or loved one, they can really get on your nerves at times, but in the end you still love them dearly. You learn a lot about life, yourself, and your family after you have kids. It puts a lot of things into perspective and I think it made me grow up a lot, similar to how a person grows up a lot after moving out and getting a job.
My kid is still very young so right now he's pretty hard to take care of, but I think it'll get easier as he gets older and more self-sufficient. I don't think my feelings on the matter will change as he gets older, though.
Having said all that, it's definitely not for everyone, and people shouldn't be pressured to have kids for the same reason why single people shouldn't be pressured to get into a relationship. It's better to be childless/single than to be an unwilling parent/partner. The same mentality applies.
If you don't want kids, don't have them. It's totally fine not to. If you do want kids, then make sure that's really what you want before you do it, because once you have kids, it's not just about you anymore, and you can't take it back. I wouldn't judge anyone for choosing either way, because there are plenty of perfectly understandable reasons for choosing one or the other.