[pjmorris]

At different times I've regretted staying too long and leaving too soon. It's a multi-dimensional problem and it's worth thinking through what you lose as well as what you gain.

It sounds like you have a pretty good situation apart from your goals to grow as an engineer. You might consider adding something, e.g. taking or teaching a course, joining or starting a group focused on learning, helping with an open-source project, volunteering to build a system for a local non-profit, etc.