Oh whew. Yes at 23 you can safely start now. You don’t have plenty of time. The younger you start the less you have to put in per month due to compounding interest on retirement. So if you can start now, you won’t be playing catch up when your kids are in highschool and ready to go off to college. You can start lower. 10-15% in your 20’s.

Do either of your employers offer a 401k

If they don’t you can open an IRA with vanguard or fidelity pretty easily.

Play with some retirement calculators and see what the difference will be if you wait.