Sounds like anecdotal drivel. What place? How old are you both? How much support did you have from your family (when it comes to down payments, etc.)? Did you graduate with any student loans?
Everybody's situation is different but to say that on average housing is affordable and you can have a nice house, nice cars, take vacations, save for retirement, and support your kids' activities on "nowhere near $100K" per person, and do it all while living in a top 20 metro area, is totally dishonest.
It's like those LinkedIn humble brag posts, where it's look at me, I'm a millennial and look how successful I am, without disclosing that their parents paid for their schooling, gifted them a car, paid for their wedding, made the down payment on the home, etc.
For perspective, the "average" home in Toronto has a selling price of $1.1M. If you make $100,000 per year before tax, the max mortgage you can qualify for is $500,000. Meaning even if you have a down payment ready of $300,000, the most expensive home you can buy is one selling for $800,000 or less. You'll have a monthly payment of $2,300 for the next 25 years and that's assuming rates don't go up.
An average 30% tax rate leaves you $3,500 per month on food, clothes, vehicle, fuel, insurance, maintenance, utilities, property taxes, and other bills.
So making $100K per year is technically below average. The young person coming out of school right now, or even a few years out, has the odds stacked heavily against them. Which is why I said $100K annual salary is nothing, even more so with the heavy inflation we had over the past year.
Now you may be satisfied with the above, but you can't say it's "nice" when it's literally below the average.